/**
* Set the output set-point value.
*
* <p>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.
*
* @param outputValue The set-point to sent to the motor controller.
* @param syncGroup The update group to add this set() to, pending updateSyncGroup(). If 0, update
* immediately.
*/
public void setX(double outputValue, byte syncGroup) throws CANTimeoutException {
int messageID = 0;
byte[] dataBuffer = new byte[8];
byte dataSize = 0;
if (!m_safetyHelper.isAlive()) {
enableControl();
}
switch (m_controlMode.value) {
case ControlMode.kPercentVbus_val:
messageID = JaguarCANProtocol.LM_API_VOLT_T_SET;
if (outputValue > 1.0) outputValue = 1.0;
if (outputValue < -1.0) outputValue = -1.0;
packPercentage(dataBuffer, outputValue);
dataSize = 2;
break;
case ControlMode.kSpeed_val:
{
messageID = JaguarCANProtocol.LM_API_SPD_T_SET;
dataSize = packFXP16_16(dataBuffer, outputValue);
}
break;
case ControlMode.kPosition_val:
{
messageID = JaguarCANProtocol.LM_API_POS_T_SET;
dataSize = packFXP16_16(dataBuffer, outputValue);
}
break;
case ControlMode.kCurrent_val:
{
messageID = JaguarCANProtocol.LM_API_ICTRL_T_SET;
dataSize = packFXP8_8(dataBuffer, outputValue);
}
break;
case ControlMode.kVoltage_val:
{
messageID = JaguarCANProtocol.LM_API_VCOMP_T_SET;
dataSize = packFXP8_8(dataBuffer, outputValue);
}
break;
default:
return;
}
if (syncGroup != 0) {
dataBuffer[dataSize] = syncGroup;
dataSize++;
}
setTransaction(messageID, dataBuffer, dataSize);
m_safetyHelper.feed();
}
/**
* Common relay initialization method. This code is common to all Relay constructors and
* initializes the relay and reserves all resources that need to be locked. Initially the relay is
* set to both lines at 0v.
*/
private void initRelay() {
SensorBase.checkRelayChannel(m_channel);
impl = new SimSpeedController("simulator/relay/" + m_channel);
m_safetyHelper = new MotorSafetyHelper(this);
m_safetyHelper.setSafetyEnabled(false);
LiveWindow.addActuator("Relay", m_channel, this);
}
/** Provides the service routine for the DS polling thread. */
private void task() {
int safetyCounter = 0;
while (m_thread_keepalive) {
try {
m_packetDataAvailableSem.takeForever();
synchronized (this) {
getData();
m_enhancedIO.updateData();
setData();
}
synchronized (m_dataSem) {
m_dataSem.notifyAll();
}
if (++safetyCounter >= 5) {
// System.out.println("Checking safety");
MotorSafetyHelper.checkMotors();
safetyCounter = 0;
}
} catch (SemaphoreException ex) {
//
}
}
}
public void setSafetyEnabled(boolean enabled) {
m_safetyHelper.setSafetyEnabled(enabled);
}
public boolean isSafetyEnabled() {
return m_safetyHelper.isSafetyEnabled();
}
public boolean isAlive() {
return m_safetyHelper.isAlive();
}
public double getExpiration() {
return m_safetyHelper.getExpiration();
}
public void setExpiration(double timeout) {
m_safetyHelper.setExpiration(timeout);
}