This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/CANJaguar.h b/azaleasource/WPILibCProgramming/trunk/WPILib/CANJaguar.h
new file mode 100644
index 0000000..83779e7
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/CANJaguar.h
@@ -0,0 +1,136 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2009. All Rights Reserved. */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+
+
+#ifndef CANJAGUAR_H
+#define CANJAGUAR_H
+
+#include "ErrorBase.h"
+#include "MotorSafety.h"
+#include "MotorSafetyHelper.h"
+#include "PIDOutput.h"
+#include "SpeedController.h"
+#include <semLib.h>
+#include <vxWorks.h>
+#include "LiveWindow/LiveWindowSendable.h"
+#include "tables/ITable.h"
+
+/**
+ * Luminary Micro Jaguar Speed Control
+ */
+class CANJaguar : public MotorSafety,
+ public SpeedController,
+ public ErrorBase,
+ public LiveWindowSendable,
+ public ITableListener
+{
+public:
+ // The internal PID control loop in the Jaguar runs at 1kHz.
+ static const INT32 kControllerRate = 1000;
+ static const double kApproxBusVoltage = 12.0;
+
+ typedef enum {kPercentVbus, kCurrent, kSpeed, kPosition, kVoltage} ControlMode;
+ typedef enum {kCurrentFault = 1, kTemperatureFault = 2, kBusVoltageFault = 4, kGateDriverFault = 8} Faults;
+ typedef enum {kForwardLimit = 1, kReverseLimit = 2} Limits;
+ typedef enum {kPosRef_QuadEncoder = 0, kPosRef_Potentiometer = 1, kPosRef_None = 0xFF} PositionReference;
+ typedef enum {kSpeedRef_Encoder = 0, kSpeedRef_InvEncoder = 2, kSpeedRef_QuadEncoder = 3, kSpeedRef_None = 0xFF} SpeedReference;
+ typedef enum {kNeutralMode_Jumper = 0, kNeutralMode_Brake = 1, kNeutralMode_Coast = 2} NeutralMode;
+ typedef enum {kLimitMode_SwitchInputsOnly = 0, kLimitMode_SoftPositionLimits = 1} LimitMode;
+
+ explicit CANJaguar(UINT8 deviceNumber, ControlMode controlMode = kPercentVbus);
+ virtual ~CANJaguar();
+
+ // SpeedController interface
+ virtual float Get();
+ virtual void Set(float value, UINT8 syncGroup=0);
+ virtual void Disable();
+
+ // PIDOutput interface
+ virtual void PIDWrite(float output);
+
+ // Other Accessors
+ void SetSpeedReference(SpeedReference reference);
+ SpeedReference GetSpeedReference();
+ void SetPositionReference(PositionReference reference);
+ PositionReference GetPositionReference();
+ void SetPID(double p, double i, double d);
+ double GetP();
+ double GetI();
+ double GetD();
+ void EnableControl(double encoderInitialPosition = 0.0);
+ void DisableControl();
+ void ChangeControlMode(ControlMode controlMode);
+ ControlMode GetControlMode();
+ float GetBusVoltage();
+ float GetOutputVoltage();
+ float GetOutputCurrent();
+ float GetTemperature();
+ double GetPosition();
+ double GetSpeed();
+ bool GetForwardLimitOK();
+ bool GetReverseLimitOK();
+ UINT16 GetFaults();
+ bool GetPowerCycled();
+ void SetVoltageRampRate(double rampRate);
+ virtual UINT32 GetFirmwareVersion();
+ UINT8 GetHardwareVersion();
+ void ConfigNeutralMode(NeutralMode mode);
+ void ConfigEncoderCodesPerRev(UINT16 codesPerRev);
+ void ConfigPotentiometerTurns(UINT16 turns);
+ void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition);
+ void DisableSoftPositionLimits();
+ void ConfigMaxOutputVoltage(double voltage);
+ void ConfigFaultTime(float faultTime);
+
+ static void UpdateSyncGroup(UINT8 syncGroup);
+
+ void SetExpiration(float timeout);
+ float GetExpiration();
+ bool IsAlive();
+ void StopMotor();
+ bool IsSafetyEnabled();
+ void SetSafetyEnabled(bool enabled);
+ void GetDescription(char *desc);
+
+protected:
+ UINT8 packPercentage(UINT8 *buffer, double value);
+ UINT8 packFXP8_8(UINT8 *buffer, double value);
+ UINT8 packFXP16_16(UINT8 *buffer, double value);
+ UINT8 packINT16(UINT8 *buffer, INT16 value);
+ UINT8 packINT32(UINT8 *buffer, INT32 value);
+ double unpackPercentage(UINT8 *buffer);
+ double unpackFXP8_8(UINT8 *buffer);
+ double unpackFXP16_16(UINT8 *buffer);
+ INT16 unpackINT16(UINT8 *buffer);
+ INT32 unpackINT32(UINT8 *buffer);
+ virtual void setTransaction(UINT32 messageID, const UINT8 *data, UINT8 dataSize);
+ virtual void getTransaction(UINT32 messageID, UINT8 *data, UINT8 *dataSize);
+
+ static INT32 sendMessage(UINT32 messageID, const UINT8 *data, UINT8 dataSize);
+ static INT32 receiveMessage(UINT32 *messageID, UINT8 *data, UINT8 *dataSize, float timeout = 0.02);
+
+ UINT8 m_deviceNumber;
+ ControlMode m_controlMode;
+ SEM_ID m_transactionSemaphore;
+ double m_maxOutputVoltage;
+
+ MotorSafetyHelper *m_safetyHelper;
+
+ void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
+ void UpdateTable();
+ void StartLiveWindowMode();
+ void StopLiveWindowMode();
+ std::string GetSmartDashboardType();
+ void InitTable(ITable *subTable);
+ ITable * GetTable();
+
+ ITable *m_table;
+
+private:
+ void InitCANJaguar();
+};
+#endif
+