/**
* Set the output set-point value.
*
* 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.
*/
void CANJaguar::Set(float outputValue, uint8_t syncGroup)
{
uint32_t messageID;
uint8_t dataBuffer[8];
uint8_t dataSize;
if (m_safetyHelper && !m_safetyHelper->IsAlive())
{
EnableControl();
}
switch(m_controlMode)
{
case kPercentVbus:
{
messageID = LM_API_VOLT_T_SET;
if (outputValue > 1.0) outputValue = 1.0;
if (outputValue < -1.0) outputValue = -1.0;
dataSize = packPercentage(dataBuffer, outputValue);
}
break;
case kSpeed:
{
messageID = LM_API_SPD_T_SET;
dataSize = packFXP16_16(dataBuffer, outputValue);
}
break;
case kPosition:
{
messageID = LM_API_POS_T_SET;
dataSize = packFXP16_16(dataBuffer, outputValue);
}
break;
case kCurrent:
{
messageID = LM_API_ICTRL_T_SET;
dataSize = packFXP8_8(dataBuffer, outputValue);
}
break;
case kVoltage:
{
messageID = LM_API_VCOMP_T_SET;
dataSize = packFXP8_8(dataBuffer, outputValue);
}
break;
default:
return;
}
if (syncGroup != 0)
{
dataBuffer[dataSize] = syncGroup;
dataSize++;
}
setTransaction(messageID, dataBuffer, dataSize);
if (m_safetyHelper) m_safetyHelper->Feed();
}
/**
* Configure the maximum voltage that the Jaguar will ever output.
*
* This can be used to limit the maximum output voltage in all modes so that
* motors which cannot withstand full bus voltage can be used safely.
*
* @param voltage The maximum voltage output by the Jaguar.
*/
void CANJaguar::ConfigMaxOutputVoltage(double voltage)
{
UINT8 dataBuffer[8];
UINT8 dataSize;
dataSize = packFXP8_8(dataBuffer, voltage);
setTransaction(LM_API_CFG_MAX_VOUT, dataBuffer, dataSize);
}
/**
* Set the maximum voltage change rate.
*
* When in PercentVbus or Voltage output mode, the rate at which the voltage changes can
* be limited to reduce current spikes. Set this to 0.0 to disable rate limiting.
*
* @param rampRate The maximum rate of voltage change in Percent Voltage mode in V/s.
*/
void CANJaguar::SetVoltageRampRate(double rampRate)
{
uint8_t dataBuffer[8];
uint8_t dataSize;
switch(m_controlMode)
{
case kPercentVbus:
dataSize = packPercentage(dataBuffer, rampRate / (m_maxOutputVoltage * kControllerRate));
setTransaction(LM_API_VOLT_SET_RAMP, dataBuffer, dataSize);
break;
case kVoltage:
dataSize = packFXP8_8(dataBuffer, rampRate / kControllerRate);
setTransaction(LM_API_VCOMP_IN_RAMP, dataBuffer, dataSize);
break;
default:
return;
}
}
/**
* Set the output set-point value.
*
* In PercentVoltage Mode, the input is in the range -1.0 to 1.0
*
* @param outputValue The set-point to sent to the motor controller.
*/
void CANJaguar::Set(float outputValue)
{
UINT32 messageID;
UINT8 dataBuffer[8];
UINT8 dataSize;
switch(m_controlMode)
{
case kPercentVoltage:
{
messageID = LM_API_VOLT_T_SET;
dataSize = packPercentage(dataBuffer, outputValue);
}
break;
case kSpeed:
{
messageID = LM_API_SPD_T_SET;
dataSize = packFXP16_16(dataBuffer, outputValue);
}
break;
case kPosition:
{
messageID = LM_API_POS_T_SET;
dataSize = packFXP16_16(dataBuffer, outputValue);
}
break;
case kCurrent:
{
messageID = LM_API_ICTRL_T_SET;
dataSize = packFXP8_8(dataBuffer, outputValue);
}
break;
default:
return;
}
setTransaction(messageID, dataBuffer, dataSize);
}
