/**
* 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.
*
* @return The most recently set outputValue setpoint.
*/
float CANJaguar::Get()
{
uint8_t dataBuffer[8];
uint8_t dataSize;
switch(m_controlMode)
{
case kPercentVbus:
getTransaction(LM_API_VOLT_SET, dataBuffer, &dataSize);
if (dataSize == sizeof(int16_t))
{
return unpackPercentage(dataBuffer);
}
break;
case kSpeed:
getTransaction(LM_API_SPD_SET, dataBuffer, &dataSize);
if (dataSize == sizeof(int32_t))
{
return unpackFXP16_16(dataBuffer);
}
break;
case kPosition:
getTransaction(LM_API_POS_SET, dataBuffer, &dataSize);
if (dataSize == sizeof(int32_t))
{
return unpackFXP16_16(dataBuffer);
}
break;
case kCurrent:
getTransaction(LM_API_ICTRL_SET, dataBuffer, &dataSize);
if (dataSize == sizeof(int16_t))
{
return unpackFXP8_8(dataBuffer);
}
break;
case kVoltage:
getTransaction(LM_API_VCOMP_SET, dataBuffer, &dataSize);
if (dataSize == sizeof(int16_t))
{
return unpackFXP8_8(dataBuffer);
}
break;
}
return 0.0;
}
/**
* Get the internal temperature of the Jaguar.
*
* @return The temperature of the Jaguar in degrees Celsius.
*/
float CANJaguar::GetTemperature()
{
uint8_t dataBuffer[8];
uint8_t dataSize;
getTransaction(LM_API_STATUS_TEMP, dataBuffer, &dataSize);
if (dataSize == sizeof(int16_t))
{
return unpackFXP8_8(dataBuffer);
}
return 0.0;
}
/**
* Get the current through the motor terminals of the Jaguar.
*
* @return The output current in Amps.
*/
float CANJaguar::GetOutputCurrent()
{
uint8_t dataBuffer[8];
uint8_t dataSize;
getTransaction(LM_API_STATUS_CURRENT, dataBuffer, &dataSize);
if (dataSize == sizeof(int16_t))
{
return unpackFXP8_8(dataBuffer);
}
return 0.0;
}
/**
* Get the voltage at the battery input terminals of the Jaguar.
*
* @return The bus voltage in Volts.
*/
float CANJaguar::GetBusVoltage()
{
uint8_t dataBuffer[8];
uint8_t dataSize;
getTransaction(LM_API_STATUS_VOLTBUS, dataBuffer, &dataSize);
if (dataSize == sizeof(int16_t))
{
return unpackFXP8_8(dataBuffer);
}
return 0.0;
}
/**
* Get the internal temperature of the Jaguar.
*
* @return The temperature of the Jaguar in degrees Celsius.
*/
float CANJaguar::GetTemperature()
{
UINT8 dataBuffer[8];
UINT8 dataSize;
getTransaction(LM_API_STATUS_TEMP, dataBuffer, &dataSize);
if (dataSize == sizeof(INT16))
{
return unpackFXP8_8(dataBuffer);
}
return 0.0;
}
/**
* Get the voltage being output from the motor terminals of the Jaguar.
*
* @return The output voltage in Volts.
*/
float CANJaguar::GetOutputVoltage()
{
uint8_t dataBuffer[8];
uint8_t dataSize;
// Read the volt out which is in Volts units.
getTransaction(LM_API_STATUS_VOUT, dataBuffer, &dataSize);
if (dataSize == sizeof(int16_t))
{
return unpackFXP8_8(dataBuffer);
}
return 0.0;
}
