CanTalonJNI.java example

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common-chicken-runtime-engine-master
// Certain modifications are Copyright 2016 Cel Skeggs
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. 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 the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

package edu.wpi.first.wpilibj.hal;

@SuppressWarnings("javadoc")
public class CanTalonJNI extends JNIWrapper {
    // Motion Profile status bits
    public static final int kMotionProfileFlag_ActTraj_IsValid = 0x1;
    public static final int kMotionProfileFlag_HasUnderrun = 0x2;
    public static final int kMotionProfileFlag_IsUnderrun = 0x4;
    public static final int kMotionProfileFlag_ActTraj_IsLast = 0x8;
    public static final int kMotionProfileFlag_ActTraj_VelOnly = 0x10;

    /**
     * Signal enumeration for generic signal access. Although every signal is
     * enumerated, only use this for traffic that must be solicited. Use the
     * auto generated getters/setters at bottom of this header as much as
     * possible.
     */
    public enum param_t {
        eProfileParamSlot0_P(1), eProfileParamSlot0_I(2), eProfileParamSlot0_D(3), eProfileParamSlot0_F(4), eProfileParamSlot0_IZone(5), eProfileParamSlot0_CloseLoopRampRate(6), eProfileParamSlot1_P(11), eProfileParamSlot1_I(12), eProfileParamSlot1_D(13), eProfileParamSlot1_F(14), eProfileParamSlot1_IZone(15), eProfileParamSlot1_CloseLoopRampRate(16), eProfileParamSoftLimitForThreshold(21), eProfileParamSoftLimitRevThreshold(22), eProfileParamSoftLimitForEnable(23), eProfileParamSoftLimitRevEnable(24), eOnBoot_BrakeMode(31), eOnBoot_LimitSwitch_Forward_NormallyClosed(32), eOnBoot_LimitSwitch_Reverse_NormallyClosed(33), eOnBoot_LimitSwitch_Forward_Disable(34), eOnBoot_LimitSwitch_Reverse_Disable(35), eFault_OverTemp(41), eFault_UnderVoltage(42), eFault_ForLim(43), eFault_RevLim(44), eFault_HardwareFailure(45), eFault_ForSoftLim(46), eFault_RevSoftLim(47), eStckyFault_OverTemp(48), eStckyFault_UnderVoltage(49), eStckyFault_ForLim(50), eStckyFault_RevLim(51), eStckyFault_ForSoftLim(52), eStckyFault_RevSoftLim(53), eAppliedThrottle(61), eCloseLoopErr(62), eFeedbackDeviceSelect(63), eRevMotDuringCloseLoopEn(64), eModeSelect(65), eProfileSlotSelect(66), eRampThrottle(67), eRevFeedbackSensor(68), eLimitSwitchEn(69), eLimitSwitchClosedFor(70), eLimitSwitchClosedRev(71), eSensorPosition(73), eSensorVelocity(74), eCurrent(75), eBrakeIsEnabled(76), eEncPosition(77), eEncVel(78), eEncIndexRiseEvents(79), eQuadApin(80), eQuadBpin(81), eQuadIdxpin(82), eAnalogInWithOv(83), eAnalogInVel(84), eTemp(85), eBatteryV(86), eResetCount(87), eResetFlags(88), eFirmVers(89), eSettingsChanged(90), eQuadFilterEn(91), ePidIaccum(93), eStatus1FrameRate(94), // TALON_Status_1_General_10ms_t
        eStatus2FrameRate(95), // TALON_Status_2_Feedback_20ms_t
        eStatus3FrameRate(96), // TALON_Status_3_Enc_100ms_t
        eStatus4FrameRate(97), // TALON_Status_4_AinTempVbat_100ms_t
        eStatus6FrameRate(98), // TALON_Status_6_Eol_t
        eStatus7FrameRate(99), // TALON_Status_7_Debug_200ms_t
        eClearPositionOnIdx(100),
        // reserved
        // reserved
        // reserved
        ePeakPosOutput(104), eNominalPosOutput(105), ePeakNegOutput(106), eNominalNegOutput(107), eQuadIdxPolarity(108), eStatus8FrameRate(109), // TALON_Status_8_PulseWid_100ms_t
        eAllowPosOverflow(110), eProfileParamSlot0_AllowableClosedLoopErr(111), eNumberPotTurns(112), eNumberEncoderCPR(113), ePwdPosition(114), eAinPosition(115), eProfileParamVcompRate(116), eProfileParamSlot1_AllowableClosedLoopErr(117), eStatus9FrameRate(118), // TALON_Status_9_MotProfBuffer_100ms_t
        eMotionProfileHasUnderrunErr(119), eReserved120(120), eLegacyControlMode(121);

        public final int value;

        private param_t(int value) {
            this.value = value;
        }
    }

    public static native long new_CanTalonSRX(int deviceNumber, int controlPeriodMs, int enablePeriodMs);

    public static native long new_CanTalonSRX(int deviceNumber, int controlPeriodMs);

    public static native long new_CanTalonSRX(int deviceNumber);

    public static native long new_CanTalonSRX();

    public static native void delete_CanTalonSRX(long handle);

    public static native void GetMotionProfileStatus(long handle, Object canTalon, Object motionProfileStatus);

    public static native void Set(long handle, double value);

    public static native void SetParam(long handle, int paramEnum, double value);

    public static native void RequestParam(long handle, int paramEnum);

    public static native double GetParamResponse(long handle, int paramEnum);

    public static native int GetParamResponseInt32(long handle, int paramEnum);

    public static native void SetPgain(long handle, int slotIdx, double gain);

    public static native void SetIgain(long handle, int slotIdx, double gain);

    public static native void SetDgain(long handle, int slotIdx, double gain);

    public static native void SetFgain(long handle, int slotIdx, double gain);

    public static native void SetIzone(long handle, int slotIdx, int zone);

    public static native void SetCloseLoopRampRate(long handle, int slotIdx, int closeLoopRampRate);

    public static native void SetVoltageCompensationRate(long handle, double voltagePerMs);

    public static native void SetSensorPosition(long handle, int pos);

    public static native void SetForwardSoftLimit(long handle, int forwardLimit);

    public static native void SetReverseSoftLimit(long handle, int reverseLimit);

    public static native void SetForwardSoftEnable(long handle, int enable);

    public static native void SetReverseSoftEnable(long handle, int enable);

    public static native double GetPgain(long handle, int slotIdx);

    public static native double GetIgain(long handle, int slotIdx);

    public static native double GetDgain(long handle, int slotIdx);

    public static native double GetFgain(long handle, int slotIdx);

    public static native int GetIzone(long handle, int slotIdx);

    public static native int GetCloseLoopRampRate(long handle, int slotIdx);

    public static native double GetVoltageCompensationRate(long handle);

    public static native int GetForwardSoftLimit(long handle);

    public static native int GetReverseSoftLimit(long handle);

    public static native int GetForwardSoftEnable(long handle);

    public static native int GetReverseSoftEnable(long handle);

    public static native int GetPulseWidthRiseToFallUs(long handle);

    public static native int IsPulseWidthSensorPresent(long handle);

    public static native void SetModeSelect2(long handle, int modeSelect, int demand);

    public static native void SetStatusFrameRate(long handle, int frameEnum, int periodMs);

    public static native void ClearStickyFaults(long handle);

    public static native void ChangeMotionControlFramePeriod(long handle, int periodMs);

    public static native void ClearMotionProfileTrajectories(long handle);

    public static native int GetMotionProfileTopLevelBufferCount(long handle);

    public static native boolean IsMotionProfileTopLevelBufferFull(long handle);

    public static native void PushMotionProfileTrajectory(long handle, int targPos, int targVel, int profileSlotSelect, int timeDurMs, int velOnly, int isLastPoint, int zeroPos);

    public static native void ProcessMotionProfileBuffer(long handle);

    public static native int GetFault_OverTemp(long handle);

    public static native int GetFault_UnderVoltage(long handle);

    public static native int GetFault_ForLim(long handle);

    public static native int GetFault_RevLim(long handle);

    public static native int GetFault_HardwareFailure(long handle);

    public static native int GetFault_ForSoftLim(long handle);

    public static native int GetFault_RevSoftLim(long handle);

    public static native int GetStckyFault_OverTemp(long handle);

    public static native int GetStckyFault_UnderVoltage(long handle);

    public static native int GetStckyFault_ForLim(long handle);

    public static native int GetStckyFault_RevLim(long handle);

    public static native int GetStckyFault_ForSoftLim(long handle);

    public static native int GetStckyFault_RevSoftLim(long handle);

    public static native int GetAppliedThrottle(long handle);

    public static native int GetCloseLoopErr(long handle);

    public static native int GetFeedbackDeviceSelect(long handle);

    public static native int GetModeSelect(long handle);

    public static native int GetLimitSwitchEn(long handle);

    public static native int GetLimitSwitchClosedFor(long handle);

    public static native int GetLimitSwitchClosedRev(long handle);

    public static native int GetSensorPosition(long handle);

    public static native int GetSensorVelocity(long handle);

    public static native double GetCurrent(long handle);

    public static native int GetBrakeIsEnabled(long handle);

    public static native int GetEncPosition(long handle);

    public static native int GetEncVel(long handle);

    public static native int GetEncIndexRiseEvents(long handle);

    public static native int GetQuadApin(long handle);

    public static native int GetQuadBpin(long handle);

    public static native int GetQuadIdxpin(long handle);

    public static native int GetAnalogInWithOv(long handle);

    public static native int GetAnalogInVel(long handle);

    public static native double GetTemp(long handle);

    public static native double GetBatteryV(long handle);

    public static native int GetResetCount(long handle);

    public static native int GetResetFlags(long handle);

    public static native int GetFirmVers(long handle);

    public static native int GetPulseWidthPosition(long handle);

    public static native int GetPulseWidthVelocity(long handle);

    public static native int GetPulseWidthRiseToRiseUs(long handle);

    public static native int GetActTraj_IsValid(long handle);

    public static native int GetActTraj_ProfileSlotSelect(long handle);

    public static native int GetActTraj_VelOnly(long handle);

    public static native int GetActTraj_IsLast(long handle);

    public static native int GetOutputType(long handle);

    public static native int GetHasUnderrun(long handle);

    public static native int GetIsUnderrun(long handle);

    public static native int GetNextID(long handle);

    public static native int GetBufferIsFull(long handle);

    public static native int GetCount(long handle);

    public static native int GetActTraj_Velocity(long handle);

    public static native int GetActTraj_Position(long handle);

    public static native void SetDemand(long handle, int param);

    public static native void SetOverrideLimitSwitchEn(long handle, int param);

    public static native void SetFeedbackDeviceSelect(long handle, int param);

    public static native void SetRevMotDuringCloseLoopEn(long handle, int param);

    public static native void SetOverrideBrakeType(long handle, int param);

    public static native void SetModeSelect(long handle, int param);

    public static native void SetProfileSlotSelect(long handle, int param);

    public static native void SetRampThrottle(long handle, int param);

    public static native void SetRevFeedbackSensor(long handle, int param);
}