cpp/src/MotorControl/CAN/TalonSRX.cpp

#include "ctre/phoenix/MotorControl/CAN/TalonSRX.h"
#include "ctre/phoenix/CCI/MotController_CCI.h"
#include "HAL/HAL.h"

using namespace ctre::phoenix;
using namespace ctre::phoenix::motorcontrol::can;
using namespace ctre::phoenix::motorcontrol;

/**
 * Constructor
 * @param deviceNumber [0,62]
 */
TalonSRX::TalonSRX(int deviceNumber) :
		BaseMotorController(deviceNumber | 0x02040000) {
			HAL_Report(HALUsageReporting::kResourceType_CANTalonSRX, deviceNumber + 1);
}
/**
 * Select the feedback device for the motor controller.
 *
 * @param feedbackDevice
 *            Feedback Device to select.
 * @param pidIdx
 *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 * @return Error Code generated by function. 0 indicates no error.
 */
ctre::phoenix::ErrorCode TalonSRX::ConfigSelectedFeedbackSensor(FeedbackDevice feedbackDevice,
		int pidIdx, int timeoutMs) {
	return BaseMotorController::ConfigSelectedFeedbackSensor(feedbackDevice,
			pidIdx, timeoutMs);
}
/**
 * Select the remote feedback device for the motor controller.
 * Most CTRE CAN motor controllers will support remote sensors over CAN.
 *
 * @param feedbackDevice
 *            Remote Feedback Device to select.
 * @param pidIdx
 *            0 for Primary closed-loop. 1 for auxiliary closed-loop.
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 * @return Error Code generated by function. 0 indicates no error.
 */
ctre::phoenix::ErrorCode TalonSRX::ConfigSelectedFeedbackSensor(RemoteFeedbackDevice feedbackDevice,
		int pidIdx, int timeoutMs) {
	return BaseMotorController::ConfigSelectedFeedbackSensor(feedbackDevice,
			pidIdx, timeoutMs);
}
/**
 * Sets the period of the given status frame.
 *
 * User ensure CAN Bus utilization is not high.
 *
 * This setting is not persistent and is lost when device is reset.
 * If this is a concern, calling application can use HasReset()
 * to determine if the status frame needs to be reconfigured.
 *
 * @param frame
 *            Frame whose period is to be changed.
 * @param periodMs
 *            Period in ms for the given frame.
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 * @return Error Code generated by function. 0 indicates no error.
 */
ctre::phoenix::ErrorCode TalonSRX::SetStatusFramePeriod(StatusFrameEnhanced frame,
		int periodMs, int timeoutMs) {
	return BaseMotorController::SetStatusFramePeriod(frame, periodMs, timeoutMs);
}
/**
 * Sets the period of the given status frame.
 *
 * User ensure CAN Bus utilization is not high.
 *
 * This setting is not persistent and is lost when device is reset.
 * If this is a concern, calling application can use HasReset()
 * to determine if the status frame needs to be reconfigured.
 *
 * @param frame
 *            Frame whose period is to be changed.
 * @param periodMs
 *            Period in ms for the given frame.
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 * @return Error Code generated by function. 0 indicates no error.
 */
ctre::phoenix::ErrorCode TalonSRX::SetStatusFramePeriod(StatusFrame frame,
		int periodMs, int timeoutMs) {
	return BaseMotorController::SetStatusFramePeriod(frame, periodMs, timeoutMs);
}
/**
 * Gets the period of the given status frame.
 *
 * @param frame
 *            Frame to get the period of.
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 * @return Period of the given status frame.
 */
int TalonSRX::GetStatusFramePeriod(StatusFrameEnhanced frame, int timeoutMs) {
	return BaseMotorController::GetStatusFramePeriod(frame, timeoutMs);
}
/**
 * Gets the period of the given status frame.
 *
 * @param frame
 *            Frame to get the period of.
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 * @return Period of the given status frame.
 */
int TalonSRX::GetStatusFramePeriod(StatusFrame frame, int timeoutMs) {
	return BaseMotorController::GetStatusFramePeriod(frame, timeoutMs);
}
/**
 * Configures the period of each velocity sample.
 * Every 1ms a position value is sampled, and the delta between that sample
 * and the position sampled kPeriod ms ago is inserted into a filter.
 * kPeriod is configured with this function.
 *
 * @param period
 *            Desired period for the velocity measurement. @see
 *            #VelocityMeasPeriod
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 * @return Error Code generated by function. 0 indicates no error.
 */
ctre::phoenix::ErrorCode TalonSRX::ConfigVelocityMeasurementPeriod(VelocityMeasPeriod period,
		int timeoutMs) {
	return BaseMotorController::ConfigVelocityMeasurementPeriod(period,
			timeoutMs);
}
/**
 * Sets the number of velocity samples used in the rolling average velocity
 * measurement.
 *
 * @param windowSize
 *            Number of samples in the rolling average of velocity
 *            measurement. Valid values are 1,2,4,8,16,32. If another
 *            value is specified, it will truncate to nearest support value.
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 * @return Error Code generated by function. 0 indicates no error.
 */
ctre::phoenix::ErrorCode TalonSRX::ConfigVelocityMeasurementWindow(int windowSize,
		int timeoutMs) {
	return BaseMotorController::ConfigVelocityMeasurementWindow(windowSize,
			timeoutMs);
}
/**
 * Configures a limit switch for a local/remote source.
 *
 * For example, a CAN motor controller may need to monitor the Limit-R pin
 * of another Talon, CANifier, or local Gadgeteer feedback connector.
 *
 * If the sensor is remote, a device ID of zero is assumed.
 * If that's not desired, use the four parameter version of this function.
 *
 * @param limitSwitchSource
 *            Limit switch source.
 *            User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.
 * @param normalOpenOrClose
 *            Setting for normally open, normally closed, or disabled. This setting
 *            matches the web-based configuration drop down.
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 * @return Error Code generated by function. 0 indicates no error.
 */
ctre::phoenix::ErrorCode TalonSRX::ConfigForwardLimitSwitchSource(
		LimitSwitchSource limitSwitchSource,
		LimitSwitchNormal normalOpenOrClose, int timeoutMs) {

	return BaseMotorController::ConfigForwardLimitSwitchSource(
			limitSwitchSource, normalOpenOrClose, timeoutMs);
}
/**
 * Configures a limit switch for a local/remote source.
 *
 * For example, a CAN motor controller may need to monitor the Limit-R pin
 * of another Talon, CANifier, or local Gadgeteer feedback connector.
 *
 * If the sensor is remote, a device ID of zero is assumed.
 * If that's not desired, use the four parameter version of this function.
 *
 * @param limitSwitchSource
 *            Limit switch source. @see #LimitSwitchSource
 *            User can choose between the feedback connector, remote Talon SRX, CANifier, or deactivate the feature.
 * @param normalOpenOrClose
 *            Setting for normally open, normally closed, or disabled. This setting
 *            matches the web-based configuration drop down.
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 * @return Error Code generated by function. 0 indicates no error.
 */
ctre::phoenix::ErrorCode TalonSRX::ConfigReverseLimitSwitchSource(
		LimitSwitchSource limitSwitchSource,
		LimitSwitchNormal normalOpenOrClose, int timeoutMs) {
	return BaseMotorController::ConfigReverseLimitSwitchSource(
			limitSwitchSource, normalOpenOrClose, timeoutMs);
}
/**
 * Configures the forward limit switch for a remote source.
 * For example, a CAN motor controller may need to monitor the Limit-F pin
 * of another Talon or CANifier.
 *
 * @param limitSwitchSource
 *            Remote limit switch source.
 *            User can choose between a remote Talon SRX, CANifier, or deactivate the feature.
 * @param normalOpenOrClose
 *            Setting for normally open, normally closed, or disabled. This setting
 *            matches the web-based configuration drop down.
 * @param deviceID
 *            Device ID of remote source (Talon SRX or CANifier device ID).
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 * @return Error Code generated by function. 0 indicates no error.
 */
ctre::phoenix::ErrorCode TalonSRX::ConfigForwardLimitSwitchSource(
		RemoteLimitSwitchSource limitSwitchSource,
		LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs) {

	return BaseMotorController::ConfigForwardLimitSwitchSource(
			limitSwitchSource, normalOpenOrClose, deviceID, timeoutMs);
}
/**
 * Configures the reverse limit switch for a remote source.
 * For example, a CAN motor controller may need to monitor the Limit-R pin
 * of another Talon or CANifier.
 *
 * @param limitSwitchSource
 *            Remote limit switch source.
 *            User can choose between a remote Talon SRX, CANifier, or deactivate the feature.
 * @param normalOpenOrClose
 *            Setting for normally open, normally closed, or disabled. This setting
 *            matches the web-based configuration drop down.
 * @param deviceID
 *            Device ID of remote source (Talon SRX or CANifier device ID).
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 * @return Error Code generated by function. 0 indicates no error.
 */
ctre::phoenix::ErrorCode TalonSRX::ConfigReverseLimitSwitchSource(
		RemoteLimitSwitchSource limitSwitchSource,
		LimitSwitchNormal normalOpenOrClose, int deviceID, int timeoutMs) {

	return BaseMotorController::ConfigReverseLimitSwitchSource(
			limitSwitchSource, normalOpenOrClose, deviceID, timeoutMs);
}

//------ Current Lim ----------//
/**
 * Configure the peak allowable current (when current limit is enabled).
 *
 * Current limit is activated when current exceeds the peak limit for longer than the peak duration.
 * Then software will limit to the continuous limit.
 * This ensures current limiting while allowing for momentary excess current events.
 *
 * For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit()
 * and set the peak to zero: ConfigPeakCurrentLimit(0).
 *
 * @param amps	Amperes to limit.
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 */
ctre::phoenix::ErrorCode TalonSRX::ConfigPeakCurrentLimit(int amps, int timeoutMs) {
	return c_MotController_ConfigPeakCurrentLimit(m_handle, amps, timeoutMs);
}
/**
 * Configure the peak allowable duration (when current limit is enabled).
 *
 * Current limit is activated when current exceeds the peak limit for longer than the peak duration.
 * Then software will limit to the continuous limit.
 * This ensures current limiting while allowing for momentary excess current events.
 *
 * For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit()
 * and set the peak to zero: ConfigPeakCurrentLimit(0).
 *
 * @param milliseconds How long to allow current-draw past peak limit.
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 */
ctre::phoenix::ErrorCode TalonSRX::ConfigPeakCurrentDuration(int milliseconds, int timeoutMs) {
	return c_MotController_ConfigPeakCurrentDuration(m_handle, milliseconds,
			timeoutMs);
}
/**
 * Configure the continuous allowable current-draw (when current limit is enabled).
 *
 * Current limit is activated when current exceeds the peak limit for longer than the peak duration.
 * Then software will limit to the continuous limit.
 * This ensures current limiting while allowing for momentary excess current events.
 *
 * For simpler current-limiting (single threshold) use ConfigContinuousCurrentLimit()
 * and set the peak to zero: ConfigPeakCurrentLimit(0).
 *
 * @param amps	Amperes to limit.
 * @param timeoutMs
 *            Timeout value in ms. If nonzero, function will wait for
 *            config success and report an error if it times out.
 *            If zero, no blocking or checking is performed.
 */
ctre::phoenix::ErrorCode TalonSRX::ConfigContinuousCurrentLimit(int amps, int timeoutMs) {
	return c_MotController_ConfigContinuousCurrentLimit(m_handle, amps, timeoutMs);
}
/**
 * Enable or disable Current Limit.
 * @param enable
 *            Enable state of current limit.
 * @see ConfigPeakCurrentLimit, ConfigPeakCurrentDuration, ConfigContinuousCurrentLimit
 */
void TalonSRX::EnableCurrentLimit(bool enable) {
	c_MotController_EnableCurrentLimit(m_handle, enable);
}