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e1480ec798
A simple improvement was to only perform the disable-before-next-set strategy if the caller's request mode is not equal to the current mode. To keep things simple, SetControlMode was renamed to private method ApplyControlMode so we can still invoke it from c'tor. Then, the new impl'n of SetControlMode() just calls ApplyControlMode() when caller's request mode is different. That takes care of direct-calls from team source, and indirect calls through enableControl(). Applied to both c++ and java. Tested in java so far... Change-Id: I934c06c5339d933918470659acd635e12eb4d113
150 lines
5.0 KiB
C++
150 lines
5.0 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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enum StatusFrameRate {
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StatusFrameRateGeneral=0,
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StatusFrameRateFeedback=1,
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StatusFrameRateQuadEncoder=2,
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StatusFrameRateAnalogTempVbat=3,
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};
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explicit CANTalon(int deviceNumber);
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explicit CANTalon(int deviceNumber,int controlPeriodMs);
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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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void SetIzone(unsigned iz);
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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 GetAnalogInRaw();
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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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void SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs);
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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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int GetIzone();
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int GetIaccum();
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void ClearIaccum();
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int GetBrakeEnableDuringNeutral();
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bool IsControlEnabled();
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double GetSetpoint();
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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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double m_setPoint;
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static const unsigned int kDelayForSolicitedSignalsUs = 4000;
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/**
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* Fixup the sendMode so Set() serializes the correct demand value.
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* Also fills the modeSelecet in the control frame to disabled.
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* @param mode Control mode to ultimately enter once user calls Set().
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* @see Set()
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*/
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void ApplyControlMode(CANSpeedController::ControlMode mode);
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};
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