#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 deviceNumber, ControlMode controlMode=kPercentVbus)
virtual float	Get ()
virtual void	Set (float value, UINT8 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	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)
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 lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable.
virtual void	SetImaqError (int success, const char contextMessage, const char filename, const char *function, UINT32 lineNumber) const
	Set the current error information associated from the nivision Imaq API.
virtual void	SetError (Error::Code code, const char contextMessage, const char filename, const char *function, UINT32 lineNumber) const
	Set the current error information associated with this sensor.
virtual void	SetWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, UINT32 lineNumber) const
	Set the current error information associated with this sensor.
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.

Static Public Member Functions
static void	UpdateSyncGroup (UINT8 syncGroup)
Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char contextMessage, const char filename, const char *function, UINT32 lineNumber)
static void	SetGlobalWPIError (const char errorMessage, const char contextMessage, const char filename, const char function, UINT32 lineNumber)
static Error &	GetGlobalError ()

Static Public Attributes
static const INT32	kControllerRate = 1000
static const double	kApproxBusVoltage = 12.0

Protected Member Functions
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)
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	sendMessage (UINT32 messageID, const UINT8 *data, UINT8 dataSize)
static INT32	receiveMessage (UINT32 messageID, UINT8 data, UINT8 *dataSize, float timeout=0.02)

Protected Attributes
UINT8	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	deviceNumber,
		ControlMode	controlMode = `kPercentVbus`
	)

explicit

Constructor

Parameters

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

Definition at line 81 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 770 of file CANJaguar.cpp.

void CANJaguar::ConfigEncoderCodesPerRev ( UINT16 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 1083 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 1175 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 1157 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 1070 of file CANJaguar.cpp.

void CANJaguar::ConfigPotentiometerTurns ( UINT16 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 1100 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 1119 of file CANJaguar.cpp.

void CANJaguar::Disable ( )

virtual

Common interface for disabling a motor.

Deprecated:: Call DisableControl instead.

Implements SpeedController.

Definition at line 232 of file CANJaguar.cpp.

void CANJaguar::DisableControl ( )

Disable the closed loop controller.

Stop driving the output based on the feedback.

Definition at line 737 of file CANJaguar.cpp.

void CANJaguar::DisableSoftPositionLimits ( )

Disable Soft Position Limits if previously enabled.

Soft Position Limits are disabled by default.

Definition at line 1141 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 706 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 181 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 806 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 788 of file CANJaguar.cpp.

double CANJaguar::GetD ( )

Get the Differential gain of the controller.

Returns: The differential gain.

Definition at line 660 of file CANJaguar.cpp.

UINT16 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 951 of file CANJaguar.cpp.

UINT32 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 1027 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 915 of file CANJaguar.cpp.

UINT8 CANJaguar::GetHardwareVersion ( )

Get the version of the Jaguar hardware.

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

Definition at line 1046 of file CANJaguar.cpp.

double CANJaguar::GetI ( )

Get the Intregral gain of the controller.

Returns: The integral gain.

Definition at line 619 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 843 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 824 of file CANJaguar.cpp.

double CANJaguar::GetP ( )

Get the Proportional gain of the controller.

Returns: The proportional gain.

Definition at line 578 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 879 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 515 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 972 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 933 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 1258 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 897 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 481 of file CANJaguar.cpp.

ITable * CANJaguar::GetTable ( )

protectedvirtual

Returns: the table that is currently associated with the sendable

Implements Sendable.

Definition at line 1267 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 861 of file CANJaguar.cpp.

void CANJaguar::getTransaction	(	UINT32	messageID,
		UINT8 *	data,
		UINT8 *	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 429 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 1262 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 244 of file CANJaguar.cpp.

INT32 CANJaguar::receiveMessage	(	UINT32 *	messageID,
		UINT8 *	data,
		UINT8 *	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 376 of file CANJaguar.cpp.

INT32 CANJaguar::sendMessage	(	UINT32	messageID,
		const UINT8 *	data,
		UINT8	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 333 of file CANJaguar.cpp.

void CANJaguar::Set	(	float	outputValue,
		UINT8	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 112 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 535 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 502 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 468 of file CANJaguar.cpp.

void CANJaguar::setTransaction	(	UINT32	messageID,
		const UINT8 *	data,
		UINT8	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 394 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 1002 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 1250 of file CANJaguar.cpp.

void CANJaguar::StopLiveWindowMode ( )

protectedvirtual

Stop having this sendable object automatically respond to value changes.

Implements LiveWindowSendable.

Definition at line 1254 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 1235 of file CANJaguar.cpp.

void CANJaguar::UpdateSyncGroup ( UINT8 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 1190 of file CANJaguar.cpp.

void CANJaguar::UpdateTable ( )

protectedvirtual

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

Implements LiveWindowSendable.

Definition at line 1244 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 1240 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