void TalonSRXUtils::TalonSRXFaultDump(const char *talonName, std::shared_ptr<WPI_TalonSRX> talonSRX) {
int fwVersion = 0;
ErrorCode error = OKAY;
Faults faults;
StickyFaults stickyFaults;
// Print out Talon SRX faults and clear sticky ones
std::printf("2135: %s -------------- %s\n", "Talon SRX", talonName);
// Check Talon SRX by getting device ID and validating firmware versions
talonSRX->GetDeviceID();
if ((error = talonSRX->GetLastError()) != OKAY) {
std::printf("2135: ERROR: %s Motor %s GetDeviceID error - %d\n",
talonSRX->GetSubsystem().c_str(), talonSRX->GetName().c_str(), error);
return;
}
fwVersion = talonSRX->GetFirmwareVersion();
if ((error = talonSRX->GetLastError()) != OKAY) {
std::printf("2135: ERROR: %s Motor %s GetFirmwareVersion error - %d\n",
talonSRX->GetSubsystem().c_str(), talonSRX->GetName().c_str(), error);
return;
}
if (fwVersion != m_reqVersion) {
std::printf("2135: WARNING: %s Motor %s Incorrect FW version %d.%d expected %d.%d\n",
talonSRX->GetSubsystem().c_str(), talonSRX->GetName().c_str(), fwVersion/256, fwVersion%256, m_reqVersion/256, m_reqVersion%256);
return;
}
// Now the Talon has been validated
talonSRX->GetFaults(faults);
talonSRX->GetStickyFaults(stickyFaults);
talonSRX->ClearStickyFaults(100);
if (faults.HasAnyFault()) {
std::printf("At Least one fault below\n");
if (faults.ForwardLimitSwitch)
std::printf("\tForwardLimitSwitch\n");
if (faults.ForwardSoftLimit)
std::printf("\tForwardSoftLimit\n");
if (faults.HardwareESDReset)
std::printf("\tHardwareESDReset\n");
if (faults.HardwareFailure)
std::printf("\tHardwareFailure\n");
if (faults.RemoteLossOfSignal)
std::printf("\tRemoteLossOfSignal\n");
if (faults.ResetDuringEn)
std::printf("\tResetDuringEn\n");
if (faults.ReverseLimitSwitch)
std::printf("\tReverseLimitSwitch\n");
if (faults.ReverseSoftLimit)
std::printf("\tReverseSoftLimit\n");
if (faults.SensorOutOfPhase)
std::printf("\tSensorOutOfPhase\n");
if (faults.SensorOverflow)
std::printf("\tSensorOverflow\n");
if (faults.UnderVoltage)
std::printf("\tUnderVoltage\n");
}
else {
std::printf("2135: NO Talon SRX active faults detected\n");
}
if (stickyFaults.HasAnyFault()) {
std::printf("At Least one STICKY fault below\n");
if (stickyFaults.ForwardLimitSwitch)
std::printf("\tForwardLimitSwitch\n");
if (stickyFaults.ForwardSoftLimit)
std::printf("\tForwardSoftLimit\n");
if (stickyFaults.HardwareESDReset)
std::printf("\tHardwareESDReset\n");
// if (stickyFaults.HardwareFailure)
// std::printf("\tHardwareFailure\n");
if (stickyFaults.RemoteLossOfSignal)
std::printf("\tRemoteLossOfSignal\n");
if (stickyFaults.ResetDuringEn)
std::printf("\tResetDuringEn\n");
if (stickyFaults.ReverseLimitSwitch)
std::printf("\tReverseLimitSwitch\n");
if (stickyFaults.ReverseSoftLimit)
std::printf("\tReverseSoftLimit\n");
if (stickyFaults.SensorOutOfPhase)
std::printf("\tSensorOutOfPhase\n");
if (stickyFaults.SensorOverflow)
std::printf("\tSensorOverflow\n");
if (stickyFaults.UnderVoltage)
std::printf("\tUnderVoltage\n");
}
else {
std::printf("2135: NO Talon SRX sticky faults detected\n");
}
}
