Package com.playingwithfusion.jni

Class CANVenomJNI

java.lang.Object

com.playingwithfusion.jni.CANVenomJNI

public class CANVenomJNI
extends java.lang.Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	CANVenomJNI.Helper

Constructor Summary

Constructors

Constructor	Description
CANVenomJNI()

Method Summary

Modifier and Type	Method	Description
static void	addMotionProfilePoint(long handle, double time, double speed, double position)
static void	clearLatchedFaults(long handle)
static void	clearMotionProfilePoints(long handle)
static void	completeMotionProfilePath(long handle, double time, double position)
static long	create(int motorID)
static void	destroy(long handle)
static void	disable(long handle)
static void	enable(long handle)
static void	enableLimitSwitches(long handle, boolean fwdLimitSwitchEnabled, boolean revLimitSwitchEnabled)
static void	executePath(long handle)
static void	forceLoad()	Force load the library.
static double	get(long handle)
static int	getActiveControlMode(long handle)
static int	getActiveFaults(long handle)
static double	getAuxVoltage(long handle)
static double	getB(long handle)
static int	getBrakeCoastMode(long handle)
static double	getBusVoltage(long handle)
static int	getControlMode(long handle)
static int	getCurrentMotionProfilePoint(long handle)
static double	getDutyCycle(long handle)
static long	getFirmwareVersion(long handle)
static boolean	getFwdLimitSwitchActive(long handle)
static boolean	getInverted(long handle)
static double	getKD(long handle)
static double	getKF(long handle)
static double	getKI(long handle)
static double	getKP(long handle)
static int	getLatchedFaults(long handle)
static double	getMaxAcceleration(long handle)
static double	getMaxJerk(long handle)
static double	getMaxPILimit(long handle)
static double	getMaxSpeed(long handle)
static double	getMinPILimit(long handle)
static boolean	getMotionProfileIsValid(long handle)
static double	getMotionProfilePositionTarget(long handle)
static double	getMotionProfileSpeedTarget(long handle)
static int	getMotionProfileState(long handle)
static int	getNumAvaliableMotionProfilePoints(long handle)
static double	getOutputCurrent(long handle)
static double	getOutputVoltage(long handle)
static double	getPIDTarget(long handle)
static double	getPosition(long handle)
static boolean	getRevLimitSwitchActive(long handle)
static long	getSerialNumber(long handle)
static double	getSpeed(long handle)
static double	getTemperature(long handle)
static void	identifyMotor(long handle)
static void	pidWrite(long handle, double command)
static void	resetPosition(long handle)
static void	set(long handle, double command)
static void	setB(long handle, double b)
static void	setBrakeCoastMode(long handle, int brakeCoastMode)
static void	setCommand(long handle, int mode, double command, double kF, double b)
static void	setCommandAndMode(long handle, int mode, double command)
static void	setControlMode(long handle, int controlMode)
static void	setInverted(long handle, boolean isInverted)
static void	setKD(long handle, double kD)
static void	setKF(long handle, double kF)
static void	setKI(long handle, double kI)
static void	setKP(long handle, double kP)
static void	setMaxAcceleration(long handle, double limit)
static void	setMaxJerk(long handle, double limit)
static void	setMaxPILimit(long handle, double limit)
static void	setMaxSpeed(long handle, double limit)
static void	setMinPILimit(long handle, double limit)
static void	setPID(long handle, double kP, double kI, double kD, double kF, double b)
static void	setPosition(long handle, double newPosition)
static void	stopMotor(long handle)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

CANVenomJNI

public CANVenomJNI()

Method Detail

forceLoad

public static void forceLoad()
                      throws java.io.IOException

Force load the library.

Throws:

java.io.IOException - Unable to load libPlayingWithFusionDriver.so

create

public static long create(int motorID)

destroy

public static void destroy(long handle)

identifyMotor

public static void identifyMotor(long handle)

resetPosition

public static void resetPosition(long handle)

setPosition

public static void setPosition(long handle,
                               double newPosition)

stopMotor

public static void stopMotor(long handle)

getFirmwareVersion

public static long getFirmwareVersion(long handle)

getSerialNumber

public static long getSerialNumber(long handle)

set

public static void set(long handle,
                       double command)

pidWrite

public static void pidWrite(long handle,
                            double command)

setInverted

public static void setInverted(long handle,
                               boolean isInverted)

get

public static double get(long handle)

getInverted

public static boolean getInverted(long handle)

disable

public static void disable(long handle)

enable

public static void enable(long handle)

getFwdLimitSwitchActive

public static boolean getFwdLimitSwitchActive(long handle)

getRevLimitSwitchActive

public static boolean getRevLimitSwitchActive(long handle)

enableLimitSwitches

public static void enableLimitSwitches(long handle,
                                       boolean fwdLimitSwitchEnabled,
                                       boolean revLimitSwitchEnabled)

getNumAvaliableMotionProfilePoints

public static int getNumAvaliableMotionProfilePoints(long handle)

getCurrentMotionProfilePoint

public static int getCurrentMotionProfilePoint(long handle)

getMotionProfilePositionTarget

public static double getMotionProfilePositionTarget(long handle)

getMotionProfileSpeedTarget

public static double getMotionProfileSpeedTarget(long handle)

getMotionProfileIsValid

public static boolean getMotionProfileIsValid(long handle)

getMotionProfileState

public static int getMotionProfileState(long handle)

clearMotionProfilePoints

public static void clearMotionProfilePoints(long handle)

addMotionProfilePoint

public static void addMotionProfilePoint(long handle,
                                         double time,
                                         double speed,
                                         double position)

completeMotionProfilePath

public static void completeMotionProfilePath(long handle,
                                             double time,
                                             double position)

executePath

public static void executePath(long handle)

getBusVoltage

public static double getBusVoltage(long handle)

getOutputVoltage

public static double getOutputVoltage(long handle)

getDutyCycle

public static double getDutyCycle(long handle)

getOutputCurrent

public static double getOutputCurrent(long handle)

getTemperature

public static double getTemperature(long handle)

getAuxVoltage

public static double getAuxVoltage(long handle)

getSpeed

public static double getSpeed(long handle)

getPosition

public static double getPosition(long handle)

getPIDTarget

public static double getPIDTarget(long handle)

getKF

public static double getKF(long handle)

getB

public static double getB(long handle)

getKP

public static double getKP(long handle)

getKI

public static double getKI(long handle)

getKD

public static double getKD(long handle)

getMinPILimit

public static double getMinPILimit(long handle)

getMaxPILimit

public static double getMaxPILimit(long handle)

getMaxSpeed

public static double getMaxSpeed(long handle)

getMaxAcceleration

public static double getMaxAcceleration(long handle)

getMaxJerk

public static double getMaxJerk(long handle)

getControlMode

public static int getControlMode(long handle)

getActiveControlMode

public static int getActiveControlMode(long handle)

getBrakeCoastMode

public static int getBrakeCoastMode(long handle)

getActiveFaults

public static int getActiveFaults(long handle)

getLatchedFaults

public static int getLatchedFaults(long handle)

clearLatchedFaults

public static void clearLatchedFaults(long handle)

setCommandAndMode

public static void setCommandAndMode(long handle,
                                     int mode,
                                     double command)

setCommand

public static void setCommand(long handle,
                              int mode,
                              double command,
                              double kF,
                              double b)

setPID

public static void setPID(long handle,
                          double kP,
                          double kI,
                          double kD,
                          double kF,
                          double b)

setKF

public static void setKF(long handle,
                         double kF)

setB

public static void setB(long handle,
                        double b)

setKP

public static void setKP(long handle,
                         double kP)

setKI

public static void setKI(long handle,
                         double kI)

setKD

public static void setKD(long handle,
                         double kD)

setMinPILimit

public static void setMinPILimit(long handle,
                                 double limit)

setMaxPILimit

public static void setMaxPILimit(long handle,
                                 double limit)

setMaxSpeed

public static void setMaxSpeed(long handle,
                               double limit)

setMaxAcceleration

public static void setMaxAcceleration(long handle,
                                      double limit)

setMaxJerk

public static void setMaxJerk(long handle,
                              double limit)

setControlMode

public static void setControlMode(long handle,
                                  int controlMode)

setBrakeCoastMode

public static void setBrakeCoastMode(long handle,
                                     int brakeCoastMode)