mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-26 01:51:41 +00:00
19a7243bfc
Added Get/clear routine for IntegralAccumulator Added missing status check in GetFirmwareVersion(). I don't expect this to affect anything. JAVA Renamed getRampRate to getCloseLoopRampRate in java to match the set routines in java, and match all routines in cpp. Added GetFirmwareVersion to java to match cpp. Added Get/clear routine for IntegralAccumulator Retested all three routines in java. Change-Id: I4ce9d9c87a379b9d4a76aae226e2072876218688
126 lines
4.2 KiB
C++
126 lines
4.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "SafePWM.h"
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#include "CANSpeedController.h"
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#include "PIDOutput.h"
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#include "MotorSafetyHelper.h"
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class CanTalonSRX;
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/**
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* CTRE Talon SRX Speed Controller with CAN Control
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*/
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class CANTalon : public MotorSafety,
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public CANSpeedController,
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public ErrorBase
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{
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public:
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enum FeedbackDevice {
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QuadEncoder=0,
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AnalogPot=2,
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AnalogEncoder=3,
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EncRising=4,
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EncFalling=5
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};
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explicit CANTalon(int deviceNumber);
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virtual ~CANTalon();
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// PIDController interface
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virtual void PIDWrite(float output) override;
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// MotorSafety interface
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virtual void SetExpiration(float timeout) override;
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virtual float GetExpiration() override;
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virtual bool IsAlive() override;
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virtual void StopMotor() override;
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virtual void SetSafetyEnabled(bool enabled) override;
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virtual bool IsSafetyEnabled() override;
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virtual void GetDescription(char *desc) override;
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// CANSpeedController interface
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virtual float Get() override;
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virtual void Set(float value, uint8_t syncGroup=0) override;
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virtual void Disable() override;
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virtual void EnableControl();
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virtual void SetP(double p) override;
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virtual void SetI(double i) override;
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virtual void SetD(double d) override;
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void SetF(double f);
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virtual void SetPID(double p, double i, double d) override;
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void SetPID(double p, double i, double d, double f);
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virtual double GetP() override;
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virtual double GetI() override;
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virtual double GetD() override;
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double GetF();
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virtual float GetBusVoltage() override;
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virtual float GetOutputVoltage() override;
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virtual float GetOutputCurrent() override;
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virtual float GetTemperature() override;
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void SetPosition(double pos);
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virtual double GetPosition() override;
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virtual double GetSpeed() override;
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virtual int GetClosedLoopError();
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virtual int GetAnalogIn();
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virtual int GetAnalogInVel();
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virtual int GetEncPosition();
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virtual int GetEncVel();
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int GetPinStateQuadA();
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int GetPinStateQuadB();
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int GetPinStateQuadIdx();
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int IsFwdLimitSwitchClosed();
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int IsRevLimitSwitchClosed();
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int GetNumberOfQuadIdxRises();
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void SetNumberOfQuadIdxRises(int rises);
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virtual bool GetForwardLimitOK() override;
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virtual bool GetReverseLimitOK() override;
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virtual uint16_t GetFaults() override;
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uint16_t GetStickyFaults();
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void ClearStickyFaults();
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virtual void SetVoltageRampRate(double rampRate) override;
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virtual uint32_t GetFirmwareVersion() override;
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virtual void ConfigNeutralMode(NeutralMode mode) override;
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virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
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virtual void ConfigPotentiometerTurns(uint16_t turns) override;
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virtual void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition) override;
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virtual void DisableSoftPositionLimits() override;
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virtual void ConfigLimitMode(LimitMode mode) override;
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virtual void ConfigForwardLimit(double forwardLimitPosition) override;
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virtual void ConfigReverseLimit(double reverseLimitPosition) override;
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virtual void ConfigMaxOutputVoltage(double voltage) override;
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virtual void ConfigFaultTime(float faultTime) override;
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virtual void SetControlMode(ControlMode mode);
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void SetFeedbackDevice(FeedbackDevice device);
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virtual ControlMode GetControlMode();
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void SetSensorDirection(bool reverseSensor);
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void SetCloseLoopRampRate(double rampRate);
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void SelectProfileSlot(int slotIdx);
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double GetIzone();
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int GetIaccum();
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void ClearIaccum();
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private:
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// Values for various modes as is sent in the CAN packets for the Talon.
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enum TalonControlMode {
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kThrottle=0,
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kFollowerMode=5,
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kVoltageMode=4,
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kPositionMode=1,
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kSpeedMode=2,
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kCurrentMode=3,
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kDisabled=15
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};
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int m_deviceNumber;
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CanTalonSRX *m_impl;
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MotorSafetyHelper *m_safetyHelper;
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int m_profile; // Profile from CANTalon to use. Set to zero until we can actually test this.
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bool m_controlEnabled;
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ControlMode m_controlMode;
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TalonControlMode m_sendMode;
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};
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