/**
* 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();
}
