#include <CANJaguar.h>

Inheritance diagram for CANJaguar:

Collaboration diagram for CANJaguar:

Public Types
enum	ControlMode { kPercentVbus, kCurrent, kSpeed, kPosition, kVoltage }

enum	Faults { kCurrentFault = 1, kTemperatureFault = 2, kBusVoltageFault = 4, kGateDriverFault = 8 }

enum	Limits { kForwardLimit = 1, kReverseLimit = 2 }

enum	PositionReference { kPosRef_QuadEncoder = 0, kPosRef_Potentiometer = 1, kPosRef_None = 0xFF }

enum	SpeedReference { kSpeedRef_Encoder = 0, kSpeedRef_InvEncoder = 2, kSpeedRef_QuadEncoder = 3, kSpeedRef_None = 0xFF }

enum	NeutralMode { kNeutralMode_Jumper = 0, kNeutralMode_Brake = 1, kNeutralMode_Coast = 2 }

enum	LimitMode { kLimitMode_SwitchInputsOnly = 0, kLimitMode_SoftPositionLimits = 1 }

Public Member Functions
	CANJaguar (uint8_t deviceNumber, ControlMode controlMode=kPercentVbus)

virtual float	Get ()

virtual void	Set (float value, uint8_t syncGroup=0)

virtual void	Disable ()

virtual void	PIDWrite (float output)

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_t	GetFaults ()

bool	GetPowerCycled ()

void	SetVoltageRampRate (double rampRate)

virtual uint32_t	GetFirmwareVersion ()

uint8_t	GetHardwareVersion ()

void	ConfigNeutralMode (NeutralMode mode)

void	ConfigEncoderCodesPerRev (uint16_t codesPerRev)

void	ConfigPotentiometerTurns (uint16_t turns)

void	ConfigSoftPositionLimits (double forwardLimitPosition, double reverseLimitPosition)

void	DisableSoftPositionLimits ()

void	ConfigMaxOutputVoltage (double voltage)

void	ConfigFaultTime (float faultTime)

void	SetExpiration (float timeout)

float	GetExpiration ()

bool	IsAlive ()

void	StopMotor ()

bool	IsSafetyEnabled ()

void	SetSafetyEnabled (bool enabled)

void	GetDescription (char *desc)

Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.

virtual const Error &	GetError () const

virtual void	SetErrnoError (const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (ErrorBase *rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Static Public Member Functions
static void	UpdateSyncGroup (uint8_t syncGroup)

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, uint32_t lineNumber)

static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, uint32_t lineNumber)

static Error &	GetGlobalError ()

Static Public Attributes
static const int32_t	kControllerRate = 1000

static constexpr double	kApproxBusVoltage = 12.0

Protected Member Functions
uint8_t	packPercentage (uint8_t *buffer, double value)

uint8_t	packFXP8_8 (uint8_t *buffer, double value)

uint8_t	packFXP16_16 (uint8_t *buffer, double value)

uint8_t	packint16_t (uint8_t *buffer, int16_t value)

uint8_t	packint32_t (uint8_t *buffer, int32_t value)

double	unpackPercentage (uint8_t *buffer)

double	unpackFXP8_8 (uint8_t *buffer)

double	unpackFXP16_16 (uint8_t *buffer)

int16_t	unpackint16_t (uint8_t *buffer)

int32_t	unpackint32_t (uint8_t *buffer)

virtual void	setTransaction (uint32_t messageID, const uint8_t *data, uint8_t dataSize)

virtual void	getTransaction (uint32_t messageID, uint8_t data, uint8_t dataSize)

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 ()

Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Static Protected Member Functions
static int32_t	sendMessage (uint32_t messageID, const uint8_t *data, uint8_t dataSize)

static int32_t	receiveMessage (uint32_t messageID, uint8_t data, uint8_t *dataSize, float timeout=0.02)

Protected Attributes
uint8_t	m_deviceNumber

ControlMode	m_controlMode

SEM_ID	m_transactionSemaphore

double	m_maxOutputVoltage

MotorSafetyHelper *	m_safetyHelper

ITable *	m_table

Protected Attributes inherited from ErrorBase
Error	m_error

Additional Inherited Members
Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY \| SEM_DELETE_SAFE \| SEM_INVERSION_SAFE)

static Error	_globalError

Detailed Description

Luminary Micro Jaguar Speed Control

Definition at line 24 of file CANJaguar.h.

Constructor & Destructor Documentation

CANJaguar::CANJaguar	(	uint8_t	deviceNumber,
		ControlMode	controlMode = `kPercentVbus`
	)

explicit

Constructor

Parameters

deviceNumber The the address of the Jaguar on the CAN bus.

Definition at line 82 of file CANJaguar.cpp.

Member Function Documentation

void CANJaguar::ChangeControlMode ( ControlMode controlMode )

Change the control mode of this Jaguar object.

After changing modes, configure any PID constants or other settings needed and then EnableControl() to actually change the mode on the Jaguar.

Parameters

controlMode The new mode.

Definition at line 771 of file CANJaguar.cpp.

void CANJaguar::ConfigEncoderCodesPerRev ( uint16_t codesPerRev )

Configure how many codes per revolution are generated by your encoder.

Parameters

codesPerRev The number of counts per revolution in 1X mode.

Definition at line 1084 of file CANJaguar.cpp.

void CANJaguar::ConfigFaultTime ( float faultTime )

Configure how long the Jaguar waits in the case of a fault before resuming operation.

Faults include over temerature, over current, and bus under voltage. The default is 3.0 seconds, but can be reduced to as low as 0.5 seconds.

Parameters

faultTime The time to wait before resuming operation, in seconds.

Definition at line 1176 of file CANJaguar.cpp.

void CANJaguar::ConfigMaxOutputVoltage ( double voltage )

Configure the maximum voltage that the Jaguar will ever output.

This can be used to limit the maximum output voltage in all modes so that motors which cannot withstand full bus voltage can be used safely.

Parameters

voltage The maximum voltage output by the Jaguar.

Definition at line 1158 of file CANJaguar.cpp.

void CANJaguar::ConfigNeutralMode ( NeutralMode mode )

Configure what the controller does to the H-Bridge when neutral (not driving the output).

This allows you to override the jumper configuration for brake or coast.

Parameters

mode	Select to use the jumper setting or to override it to coast or brake.

Definition at line 1071 of file CANJaguar.cpp.

void CANJaguar::ConfigPotentiometerTurns ( uint16_t turns )

Configure the number of turns on the potentiometer.

There is no special support for continuous turn potentiometers. Only integer numbers of turns are supported.

Parameters

turns The number of turns of the potentiometer

Definition at line 1101 of file CANJaguar.cpp.

void CANJaguar::ConfigSoftPositionLimits	(	double	forwardLimitPosition,
		double	reverseLimitPosition
	)

Configure Soft Position Limits when in Position Controller mode.

When controlling position, you can add additional limits on top of the limit switch inputs that are based on the position feedback. If the position limit is reached or the switch is opened, that direction will be disabled.

Parameters

forwardLimitPosition	The position that if exceeded will disable the forward direction.
reverseLimitPosition	The position that if exceeded will disable the reverse direction.

Definition at line 1120 of file CANJaguar.cpp.

void CANJaguar::Disable ( )

virtual

Common interface for disabling a motor.

Deprecated:: Call DisableControl instead.

Implements SpeedController.

Definition at line 233 of file CANJaguar.cpp.

void CANJaguar::DisableControl ( )

Disable the closed loop controller.

Stop driving the output based on the feedback.

Definition at line 738 of file CANJaguar.cpp.

void CANJaguar::DisableSoftPositionLimits ( )

Disable Soft Position Limits if previously enabled.

Soft Position Limits are disabled by default.

Definition at line 1142 of file CANJaguar.cpp.

void CANJaguar::EnableControl ( double encoderInitialPosition = 0.0 )

Enable the closed loop controller.

Start actually controlling the output based on the feedback. If starting a position controller with an encoder reference, use the encoderInitialPosition parameter to initialize the encoder state.

Parameters

encoderInitialPosition Encoder position to set if position with encoder reference. Ignored otherwise.

Definition at line 707 of file CANJaguar.cpp.

float CANJaguar::Get ( )

virtual

Get the recently set outputValue setpoint.

The scale and the units depend on the mode the Jaguar is in. In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar). In Voltage Mode, the outputValue is in Volts. In Current Mode, the outputValue is in Amps. In Speed Mode, the outputValue is in Rotations/Minute. In Position Mode, the outputValue is in Rotations.

Returns: The most recently set outputValue setpoint.

Implements SpeedController.

Definition at line 182 of file CANJaguar.cpp.

float CANJaguar::GetBusVoltage ( )

Get the voltage at the battery input terminals of the Jaguar.

Returns: The bus voltage in Volts.

Definition at line 807 of file CANJaguar.cpp.

CANJaguar::ControlMode CANJaguar::GetControlMode ( )

Get the active control mode from the Jaguar.

Ask the Jag what mode it is in.

Returns: ControlMode that the Jag is in.

Definition at line 789 of file CANJaguar.cpp.

double CANJaguar::GetD ( )

Get the Differential gain of the controller.

Returns: The differential gain.

Definition at line 661 of file CANJaguar.cpp.

uint16_t CANJaguar::GetFaults ( )

Get the status of any faults the Jaguar has detected.

Returns: A bit-mask of faults defined by the "Faults" enum.

Definition at line 952 of file CANJaguar.cpp.

uint32_t CANJaguar::GetFirmwareVersion ( )

virtual

Get the version of the firmware running on the Jaguar.

Returns: The firmware version. 0 if the device did not respond.

Definition at line 1028 of file CANJaguar.cpp.

bool CANJaguar::GetForwardLimitOK ( )

Get the status of the forward limit switch.

Returns: The motor is allowed to turn in the forward direction when true.

Definition at line 916 of file CANJaguar.cpp.

uint8_t CANJaguar::GetHardwareVersion ( )

Get the version of the Jaguar hardware.

Returns: The hardware version. 1: Jaguar, 2: Black Jaguar

Definition at line 1047 of file CANJaguar.cpp.

double CANJaguar::GetI ( )

Get the Intregral gain of the controller.

Returns: The integral gain.

Definition at line 620 of file CANJaguar.cpp.

float CANJaguar::GetOutputCurrent ( )

Get the current through the motor terminals of the Jaguar.

Returns: The output current in Amps.

Definition at line 844 of file CANJaguar.cpp.

float CANJaguar::GetOutputVoltage ( )

Get the voltage being output from the motor terminals of the Jaguar.

Returns: The output voltage in Volts.

Definition at line 825 of file CANJaguar.cpp.

double CANJaguar::GetP ( )

Get the Proportional gain of the controller.

Returns: The proportional gain.

Definition at line 579 of file CANJaguar.cpp.

double CANJaguar::GetPosition ( )

Get the position of the encoder or potentiometer.

Returns: The position of the motor in rotations based on the configured feedback.

Definition at line 880 of file CANJaguar.cpp.

CANJaguar::PositionReference CANJaguar::GetPositionReference ( )

Get the reference source device for position controller mode.

Returns: A PositionReference indicating the currently selected reference device for position controller mode.

Definition at line 516 of file CANJaguar.cpp.

bool CANJaguar::GetPowerCycled ( )

Check if the Jaguar's power has been cycled since this was last called.

This should return true the first time called after a Jaguar power up, and false after that.

Returns: The Jaguar was power cycled since the last call to this function.

Definition at line 973 of file CANJaguar.cpp.

bool CANJaguar::GetReverseLimitOK ( )

Get the status of the reverse limit switch.

Returns: The motor is allowed to turn in the reverse direction when true.

Definition at line 934 of file CANJaguar.cpp.

std::string CANJaguar::GetSmartDashboardType ( )

protectedvirtual

Returns: the string representation of the named data type that will be used by the smart dashboard for this sendable

Implements Sendable.

Definition at line 1263 of file CANJaguar.cpp.

double CANJaguar::GetSpeed ( )

Get the speed of the encoder.

Returns: The speed of the motor in RPM based on the configured feedback.

Definition at line 898 of file CANJaguar.cpp.

CANJaguar::SpeedReference CANJaguar::GetSpeedReference ( )

Get the reference source device for speed controller mode.

Returns: A SpeedReference indicating the currently selected reference device for speed controller mode.

Definition at line 482 of file CANJaguar.cpp.

ITable * CANJaguar::GetTable ( )

protectedvirtual

Returns: the table that is currently associated with the sendable

Implements Sendable.

Definition at line 1272 of file CANJaguar.cpp.

float CANJaguar::GetTemperature ( )

Get the internal temperature of the Jaguar.

Returns: The temperature of the Jaguar in degrees Celsius.

Definition at line 862 of file CANJaguar.cpp.

void CANJaguar::getTransaction	(	uint32_t	messageID,
		uint8_t *	data,
		uint8_t *	dataSize
	)

protectedvirtual

Execute a transaction with a Jaguar that gets some property.

Jaguar always generates a message with the same message ID when replying.

Parameters

messageID	The messageID to read from the CAN bus (device number is added internally)
data	The up to 8 bytes of data that was received with the message
dataSize	Indicates how much data was received

Definition at line 430 of file CANJaguar.cpp.

void CANJaguar::InitTable ( ITable * subtable )

protectedvirtual

Initializes a table for this sendable object.

Parameters

subtable The table to put the values in.

Implements Sendable.

Definition at line 1267 of file CANJaguar.cpp.

void CANJaguar::PIDWrite ( float output )

virtual

Write out the PID value as seen in the PIDOutput base object.

Deprecated:: Call Set instead.

Parameters

output Write out the PercentVbus value as was computed by the PIDController

Implements PIDOutput.

Definition at line 245 of file CANJaguar.cpp.

int32_t CANJaguar::receiveMessage	(	uint32_t *	messageID,
		uint8_t *	data,
		uint8_t *	dataSize,
		float	timeout = `0.02`
	)

staticprotected

Receive a message from the CAN bus through the CAN driver in FRC_NetworkCommunication

Parameters

messageID	The messageID to read from the CAN bus
data	The up to 8 bytes of data that was received with the message
dataSize	Indicates how much data was received
timeout	Specify how long to wait for a message (in seconds)

Returns: Status of receive call

Definition at line 377 of file CANJaguar.cpp.

int32_t CANJaguar::sendMessage	(	uint32_t	messageID,
		const uint8_t *	data,
		uint8_t	dataSize
	)

staticprotected

Send a message on the CAN bus through the CAN driver in FRC_NetworkCommunication

Trusted messages require a 2-byte token at the beginning of the data payload. If the message being sent is trusted, make space for the token.

Parameters

messageID	The messageID to be used on the CAN bus
data	The up to 8 bytes of data to be sent with the message
dataSize	Specify how much of the data in "data" to send

Returns: Status of send call

Definition at line 334 of file CANJaguar.cpp.

void CANJaguar::Set	(	float	outputValue,
		uint8_t	syncGroup = `0`
	)

virtual

Set the output set-point value.

The scale and the units depend on the mode the Jaguar is in. In PercentVbus Mode, the outputValue is from -1.0 to 1.0 (same as PWM Jaguar). In Voltage Mode, the outputValue is in Volts. In Current Mode, the outputValue is in Amps. In Speed Mode, the outputValue is in Rotations/Minute. In Position Mode, the outputValue is in Rotations.

Parameters

outputValue	The set-point to sent to the motor controller.
syncGroup	The update group to add this Set() to, pending UpdateSyncGroup(). If 0, update immediately.

Implements SpeedController.

Definition at line 113 of file CANJaguar.cpp.

void CANJaguar::SetPID	(	double	p,
		double	i,
		double	d
	)

Set the P, I, and D constants for the closed loop modes.

Parameters

p	The proportional gain of the Jaguar's PID controller.
i	The integral gain of the Jaguar's PID controller.
d	The differential gain of the Jaguar's PID controller.

Definition at line 536 of file CANJaguar.cpp.

void CANJaguar::SetPositionReference ( PositionReference reference )

Set the reference source device for position controller mode.

Choose between using and encoder and using a potentiometer as the source of position feedback when in position control mode.

Parameters

reference Specify a PositionReference.

Definition at line 503 of file CANJaguar.cpp.

void CANJaguar::SetSpeedReference ( SpeedReference reference )

Set the reference source device for speed controller mode.

Choose encoder as the source of speed feedback when in speed control mode.

Parameters

reference Specify a SpeedReference.

Definition at line 469 of file CANJaguar.cpp.

void CANJaguar::setTransaction	(	uint32_t	messageID,
		const uint8_t *	data,
		uint8_t	dataSize
	)

protectedvirtual

Execute a transaction with a Jaguar that sets some property.

Jaguar always acks when it receives a message. If we don't wait for an ack, the message object in the Jaguar could get overwritten before it is handled.

Parameters

messageID	The messageID to be used on the CAN bus (device number is added internally)
data	The up to 8 bytes of data to be sent with the message
dataSize	Specify how much of the data in "data" to send

Definition at line 395 of file CANJaguar.cpp.

void CANJaguar::SetVoltageRampRate ( double rampRate )

Set the maximum voltage change rate.

When in PercentVbus or Voltage output mode, the rate at which the voltage changes can be limited to reduce current spikes. Set this to 0.0 to disable rate limiting.

Parameters

rampRate The maximum rate of voltage change in Percent Voltage mode in V/s.

Definition at line 1003 of file CANJaguar.cpp.

void CANJaguar::StartLiveWindowMode ( )

protectedvirtual

Start having this sendable object automatically respond to value changes reflect the value on the table.

Implements LiveWindowSendable.

Definition at line 1251 of file CANJaguar.cpp.

void CANJaguar::StopLiveWindowMode ( )

protectedvirtual

Stop having this sendable object automatically respond to value changes.

Implements LiveWindowSendable.

Definition at line 1257 of file CANJaguar.cpp.

void CANJaguar::StopMotor ( )

virtual

Common interface for stopping the motor Part of the MotorSafety interface

Deprecated:: Call DisableControl instead.

Implements MotorSafety.

Definition at line 1236 of file CANJaguar.cpp.

void CANJaguar::UpdateSyncGroup ( uint8_t syncGroup )

static

Update all the motors that have pending sets in the syncGroup.

Parameters

syncGroup A bitmask of groups to generate synchronous output.

Definition at line 1191 of file CANJaguar.cpp.

void CANJaguar::UpdateTable ( )

protectedvirtual

Update the table for this sendable object with the latest values.

Implements LiveWindowSendable.

Definition at line 1245 of file CANJaguar.cpp.

void CANJaguar::ValueChanged	(	ITable *	source,
		const std::string &	key,
		EntryValue	value,
		bool	isNew
	)

protectedvirtual

Called when a key-value pair is changed in a ITable WARNING: If a new key-value is put in this method value changed will immediatly be called which could lead to recursive code

Parameters

source	the table the key-value pair exists in
key	the key associated with the value that changed
value	the new value
isNew	true if the key did not previously exist in the table, otherwise it is false

Implements ITableListener.

Definition at line 1241 of file CANJaguar.cpp.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation