JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetAppliedThrottle
(JNIEnv * env, jclass, jlong handle)
{
int retval;
CTR_Code status = ((CanTalonSRX*)handle)->GetAppliedThrottle(retval);
CheckCTRStatus(env, status);
return retval;
}
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFeedbackDeviceSelect
(JNIEnv * env, jclass, jlong handle)
{
int retval;
CTR_Code status = ((CanTalonSRX*)handle)->GetFeedbackDeviceSelect(retval);
CheckCTRStatus(env, status);
return retval;
}
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFault_1HardwareFailure
(JNIEnv * env, jclass, jlong handle)
{
int retval;
CTR_Code status = ((CanTalonSRX*)handle)->GetFault_HardwareFailure(retval);
CheckCTRStatus(env, status);
return retval;
}
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetStckyFault_1RevSoftLim
(JNIEnv * env, jclass, jlong handle)
{
int retval;
CTR_Code status = ((CanTalonSRX*)handle)->GetStckyFault_RevSoftLim(retval);
CheckCTRStatus(env, status);
return retval;
}
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetPulseWidthRiseToFallUs
(JNIEnv *env, jclass, jlong handle)
{
int param;
CTR_Code status = ((CanTalonSRX*)handle)->GetPulseWidthRiseToFallUs(param);
CheckCTRStatus(env, status);
return param;
}
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_IsPulseWidthSensorPresent
(JNIEnv *env, jclass, jlong handle)
{
int param;
CTR_Code status = ((CanTalonSRX*)handle)->IsPulseWidthSensorPresent(param);
CheckCTRStatus(env, status);
return param;
}
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetReverseSoftLimit
(JNIEnv *env, jclass, jlong handle)
{
int reverseLimit;
CTR_Code status = ((CanTalonSRX*)handle)->GetReverseSoftLimit(reverseLimit);
CheckCTRStatus(env, status);
return reverseLimit;
}
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetReverseSoftEnable
(JNIEnv *env, jclass, jlong handle)
{
int enable;
CTR_Code status = ((CanTalonSRX*)handle)->GetReverseSoftEnable(enable);
CheckCTRStatus(env, status);
return enable;
}
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetCloseLoopRampRate
(JNIEnv *env, jclass, jlong handle, jint slotIdx)
{
int closeLoopRampRate;
CTR_Code status = ((CanTalonSRX*)handle)->GetCloseLoopRampRate((unsigned)slotIdx, closeLoopRampRate);
CheckCTRStatus(env, status);
return closeLoopRampRate;
}
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetVoltageCompensationRate
(JNIEnv *env, jclass, jlong handle)
{
double voltagePerMs;
CTR_Code status = ((CanTalonSRX*)handle)->GetVoltageCompensationRate(voltagePerMs);
CheckCTRStatus(env, status);
return voltagePerMs;
}
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetFgain
(JNIEnv *env, jclass, jlong handle, jint slotIdx)
{
double gain;
CTR_Code status = ((CanTalonSRX*)handle)->GetFgain((unsigned)slotIdx, gain);
CheckCTRStatus(env, status);
return gain;
}
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetParamResponseInt32
(JNIEnv *env, jclass, jlong handle, jint paramEnum)
{
int value;
CTR_Code status = ((CanTalonSRX*)handle)->GetParamResponseInt32((CanTalonSRX::param_t)paramEnum, value);
CheckCTRStatus(env, status);
return value;
}
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetPulseWidthVelocity
(JNIEnv * env, jclass, jlong handle)
{
int retval;
CTR_Code status = ((CanTalonSRX*)handle)->GetPulseWidthVelocity(retval);
CheckCTRStatus(env, status);
return retval;
}
JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetBatteryV
(JNIEnv * env, jclass, jlong handle)
{
double retval;
CTR_Code status = ((CanTalonSRX*)handle)->GetBatteryV(retval);
CheckCTRStatus(env, status);
return retval;
}
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetLimitSwitchClosedFor
(JNIEnv * env, jclass, jlong handle)
{
int retval;
CTR_Code status = ((CanTalonSRX*)handle)->GetLimitSwitchClosedFor(retval);
CheckCTRStatus(env, status);
return retval;
}
JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetEncIndexRiseEvents
(JNIEnv * env, jclass, jlong handle)
{
int retval;
CTR_Code status = ((CanTalonSRX*)handle)->GetEncIndexRiseEvents(retval);
CheckCTRStatus(env, status);
return retval;
}
/*
* Class: edu_wpi_first_wpilibj_hal_CanTalonJNI
* Method: GetMotionProfileStatus
* Signature: (JLedu/wpi/first/wpilibj/CANTalon;Ledu/wpi/first/wpilibj/CANTalon/MotionProfileStatus;)V
*/
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetMotionProfileStatus
(JNIEnv *env, jclass, jlong handle, jobject canTalon, jobject motionProfileStatus)
{
static jmethodID setMotionProfileStatusFromJNI = nullptr;
if (!setMotionProfileStatusFromJNI) {
jclass cls = env->GetObjectClass(canTalon);
setMotionProfileStatusFromJNI = env->GetMethodID(cls, "setMotionProfileStatusFromJNI", "(Ledu/wpi/first/wpilibj/CANTalon$MotionProfileStatus;IIIIIIII)V");
if (!setMotionProfileStatusFromJNI) return;
}
uint32_t flags;
uint32_t profileSlotSelect;
int32_t targPos;
int32_t targVel;
uint32_t topBufferRem;
uint32_t topBufferCnt;
uint32_t btmBufferCnt;
uint32_t outputEnable;
CTR_Code status = ((CanTalonSRX*)handle)->GetMotionProfileStatus(flags, profileSlotSelect, targPos, targVel, topBufferRem, topBufferCnt, btmBufferCnt, outputEnable);
if (!CheckCTRStatus(env, status)) return;
env->CallVoidMethod(canTalon, setMotionProfileStatusFromJNI, motionProfileStatus, (jint)flags, (jint)profileSlotSelect, (jint)targPos, (jint)targVel, (jint)topBufferRem, (jint)topBufferCnt, (jint)btmBufferCnt, (jint)outputEnable);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetProfileSlotSelect
(JNIEnv * env, jclass, jlong handle, jint param)
{
CTR_Code status = ((CanTalonSRX*)handle)->SetProfileSlotSelect(param);
CheckCTRStatus(env, status);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetRevFeedbackSensor
(JNIEnv * env, jclass, jlong handle, jint param)
{
CTR_Code status = ((CanTalonSRX*)handle)->SetRevFeedbackSensor(param);
CheckCTRStatus(env, status);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetRevMotDuringCloseLoopEn
(JNIEnv * env, jclass, jlong handle, jint param)
{
CTR_Code status = ((CanTalonSRX*)handle)->SetRevMotDuringCloseLoopEn(param);
CheckCTRStatus(env, status);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetOverrideBrakeType
(JNIEnv * env, jclass, jlong handle, jint param)
{
CTR_Code status = ((CanTalonSRX*)handle)->SetOverrideBrakeType(param);
CheckCTRStatus(env, status);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_ClearStickyFaults
(JNIEnv *env, jclass, jlong handle)
{
CTR_Code status = ((CanTalonSRX*)handle)->ClearStickyFaults();
CheckCTRStatus(env, status);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_PushMotionProfileTrajectory
(JNIEnv *env, jclass, jlong handle, jint targPos, jint targVel, jint profileSlotSelect, jint timeDurMs, jint velOnly, jint isLastPoint, jint zeroPos)
{
CTR_Code status = ((CanTalonSRX*)handle)->PushMotionProfileTrajectory((int)targPos, (int)targVel, (int)profileSlotSelect, (int)timeDurMs, (int)velOnly, (int)isLastPoint, (int)zeroPos);
CheckCTRStatus(env, status);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetModeSelect2
(JNIEnv *env, jclass, jlong handle, jint modeSelect, jint demand)
{
CTR_Code status = ((CanTalonSRX*)handle)->SetModeSelect((int)modeSelect, (int)demand);
CheckCTRStatus(env, status);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetStatusFrameRate
(JNIEnv *env, jclass, jlong handle, jint frameEnum, jint periodMs)
{
CTR_Code status = ((CanTalonSRX*)handle)->SetStatusFrameRate((unsigned)frameEnum, (unsigned)periodMs);
CheckCTRStatus(env, status);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetReverseSoftEnable
(JNIEnv *env, jclass, jlong handle, jint enable)
{
CTR_Code status = ((CanTalonSRX*)handle)->SetReverseSoftEnable((int)enable);
CheckCTRStatus(env, status);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetForwardSoftLimit
(JNIEnv *env, jclass, jlong handle, jint forwardLimit)
{
CTR_Code status = ((CanTalonSRX*)handle)->SetForwardSoftLimit((int)forwardLimit);
CheckCTRStatus(env, status);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetSensorPosition
(JNIEnv *env, jclass, jlong handle, jint pos)
{
CTR_Code status = ((CanTalonSRX*)handle)->SetSensorPosition((int)pos);
CheckCTRStatus(env, status);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetVoltageCompensationRate
(JNIEnv *env, jclass, jlong handle, jdouble voltagePerMs)
{
CTR_Code status = ((CanTalonSRX*)handle)->SetVoltageCompensationRate((double)voltagePerMs);
CheckCTRStatus(env, status);
}
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetCloseLoopRampRate
(JNIEnv *env, jclass, jlong handle, jint slotIdx, jint closeLoopRampRate)
{
CTR_Code status = ((CanTalonSRX*)handle)->SetCloseLoopRampRate((unsigned)slotIdx, (int)closeLoopRampRate);
CheckCTRStatus(env, status);
}
