253 lines
9.4 KiB
C
253 lines
9.4 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2009-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "ErrorBase.h"
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#include "MotorSafety.h"
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#include "Resource.h"
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#include "MotorSafetyHelper.h"
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#include "PIDOutput.h"
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#include "CANSpeedController.h"
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#include "HAL/cpp/Semaphore.hpp"
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#include "HAL/HAL.hpp"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITableListener.h"
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#include "NetworkCommunication/CANSessionMux.h"
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#include "CAN/can_proto.h"
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#include <atomic>
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#include "HAL/cpp/priority_mutex.h"
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#include <memory>
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#include <utility>
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#include <sstream>
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/**
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* Luminary Micro / Vex Robotics Jaguar Speed Control
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*/
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class CANJaguar : public MotorSafety,
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public CANSpeedController,
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public ErrorBase,
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public LiveWindowSendable,
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public ITableListener {
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public:
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// The internal PID control loop in the Jaguar runs at 1kHz.
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static const int32_t kControllerRate = 1000;
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static constexpr double kApproxBusVoltage = 12.0;
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// Control mode tags
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/** Sets an encoder as the speed reference only. <br> Passed as the "tag" when
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* setting the control mode.*/
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static const struct EncoderStruct {
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} Encoder;
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/** Sets a quadrature encoder as the position and speed reference. <br> Passed
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* as the "tag" when setting the control mode.*/
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static const struct QuadEncoderStruct {
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} QuadEncoder;
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/** Sets a potentiometer as the position reference only. <br> Passed as the
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* "tag" when setting the control mode. */
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static const struct PotentiometerStruct {
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} Potentiometer;
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explicit CANJaguar(uint8_t deviceNumber);
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virtual ~CANJaguar();
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uint8_t getDeviceNumber() const;
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uint8_t GetHardwareVersion() const;
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// PIDOutput interface
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virtual void PIDWrite(float output) override;
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// Control mode methods
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void EnableControl(double encoderInitialPosition = 0.0);
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void DisableControl();
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void SetPercentMode();
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void SetPercentMode(EncoderStruct, uint16_t codesPerRev);
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void SetPercentMode(QuadEncoderStruct, uint16_t codesPerRev);
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void SetPercentMode(PotentiometerStruct);
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void SetCurrentMode(double p, double i, double d);
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void SetCurrentMode(EncoderStruct, uint16_t codesPerRev, double p, double i,
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double d);
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void SetCurrentMode(QuadEncoderStruct, uint16_t codesPerRev, double p,
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double i, double d);
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void SetCurrentMode(PotentiometerStruct, double p, double i, double d);
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void SetSpeedMode(EncoderStruct, uint16_t codesPerRev, double p, double i,
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double d);
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void SetSpeedMode(QuadEncoderStruct, uint16_t codesPerRev, double p, double i,
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double d);
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void SetPositionMode(QuadEncoderStruct, uint16_t codesPerRev, double p,
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double i, double d);
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void SetPositionMode(PotentiometerStruct, double p, double i, double d);
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void SetVoltageMode();
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void SetVoltageMode(EncoderStruct, uint16_t codesPerRev);
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void SetVoltageMode(QuadEncoderStruct, uint16_t codesPerRev);
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void SetVoltageMode(PotentiometerStruct);
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// CANSpeedController interface
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virtual float Get() const override;
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virtual void Set(float value, uint8_t syncGroup = 0) override;
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virtual void Disable() override;
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virtual void SetP(double p) override;
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virtual void SetI(double i) override;
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virtual void SetD(double d) override;
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virtual void SetPID(double p, double i, double d) override;
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virtual double GetP() const override;
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virtual double GetI() const override;
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virtual double GetD() const override;
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virtual bool IsModePID(CANSpeedController::ControlMode mode) const override;
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virtual float GetBusVoltage() const override;
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virtual float GetOutputVoltage() const override;
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virtual float GetOutputCurrent() const override;
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virtual float GetTemperature() const override;
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virtual double GetPosition() const override;
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virtual double GetSpeed() const override;
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virtual bool GetForwardLimitOK() const override;
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virtual bool GetReverseLimitOK() const override;
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virtual uint16_t GetFaults() const override;
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virtual void SetVoltageRampRate(double rampRate) override;
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virtual uint32_t GetFirmwareVersion() const override;
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virtual void ConfigNeutralMode(NeutralMode mode) override;
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virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
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virtual void ConfigPotentiometerTurns(uint16_t turns) override;
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virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
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double reverseLimitPosition) override;
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virtual void DisableSoftPositionLimits() override;
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virtual void ConfigLimitMode(LimitMode mode) override;
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virtual void ConfigForwardLimit(double forwardLimitPosition) override;
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virtual void ConfigReverseLimit(double reverseLimitPosition) override;
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virtual void ConfigMaxOutputVoltage(double voltage) override;
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virtual void ConfigFaultTime(float faultTime) override;
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virtual void SetControlMode(ControlMode mode);
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virtual ControlMode GetControlMode() const;
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static void UpdateSyncGroup(uint8_t syncGroup);
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void SetExpiration(float timeout) override;
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float GetExpiration() const override;
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bool IsAlive() const override;
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void StopMotor() override;
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bool IsSafetyEnabled() const override;
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void SetSafetyEnabled(bool enabled) override;
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void GetDescription(std::ostringstream& desc) const override;
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uint8_t GetDeviceID() const;
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// SpeedController overrides
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virtual void SetInverted(bool isInverted) override;
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virtual bool GetInverted() const override;
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protected:
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// Control mode helpers
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void SetSpeedReference(uint8_t reference);
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uint8_t GetSpeedReference() const;
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void SetPositionReference(uint8_t reference);
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uint8_t GetPositionReference() const;
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uint8_t packPercentage(uint8_t *buffer, double value);
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uint8_t packFXP8_8(uint8_t *buffer, double value);
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uint8_t packFXP16_16(uint8_t *buffer, double value);
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uint8_t packint16_t(uint8_t *buffer, int16_t value);
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uint8_t packint32_t(uint8_t *buffer, int32_t value);
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double unpackPercentage(uint8_t *buffer) const;
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double unpackFXP8_8(uint8_t *buffer) const;
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double unpackFXP16_16(uint8_t *buffer) const;
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int16_t unpackint16_t(uint8_t *buffer) const;
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int32_t unpackint32_t(uint8_t *buffer) const;
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void sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize,
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int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
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void requestMessage(uint32_t messageID,
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int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
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bool getMessage(uint32_t messageID, uint32_t mask, uint8_t *data,
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uint8_t *dataSize) const;
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void setupPeriodicStatus();
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void updatePeriodicStatus() const;
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mutable priority_recursive_mutex m_mutex;
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uint8_t m_deviceNumber;
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float m_value = 0.0f;
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// Parameters/configuration
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ControlMode m_controlMode = kPercentVbus;
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uint8_t m_speedReference = LM_REF_NONE;
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uint8_t m_positionReference = LM_REF_NONE;
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double m_p = 0.0;
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double m_i = 0.0;
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double m_d = 0.0;
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NeutralMode m_neutralMode = kNeutralMode_Jumper;
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uint16_t m_encoderCodesPerRev = 0;
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uint16_t m_potentiometerTurns = 0;
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LimitMode m_limitMode = kLimitMode_SwitchInputsOnly;
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double m_forwardLimit = 0.0;
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double m_reverseLimit = 0.0;
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double m_maxOutputVoltage = 30.0;
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double m_voltageRampRate = 0.0;
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float m_faultTime = 0.0f;
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// Which parameters have been verified since they were last set?
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bool m_controlModeVerified = false; // Needs to be verified because it's set in the constructor
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bool m_speedRefVerified = true;
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bool m_posRefVerified = true;
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bool m_pVerified = true;
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bool m_iVerified = true;
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bool m_dVerified = true;
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bool m_neutralModeVerified = true;
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bool m_encoderCodesPerRevVerified = true;
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bool m_potentiometerTurnsVerified = true;
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bool m_forwardLimitVerified = true;
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bool m_reverseLimitVerified = true;
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bool m_limitModeVerified = true;
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bool m_maxOutputVoltageVerified = true;
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bool m_voltageRampRateVerified = true;
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bool m_faultTimeVerified = true;
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// Status data
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mutable float m_busVoltage = 0.0f;
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mutable float m_outputVoltage = 0.0f;
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mutable float m_outputCurrent = 0.0f;
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mutable float m_temperature = 0.0f;
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mutable double m_position = 0.0;
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mutable double m_speed = 0.0;
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mutable uint8_t m_limits = 0x00;
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mutable uint16_t m_faults = 0x0000;
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uint32_t m_firmwareVersion = 0;
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uint8_t m_hardwareVersion = 0;
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// Which periodic status messages have we received at least once?
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mutable std::atomic<bool> m_receivedStatusMessage0{false};
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mutable std::atomic<bool> m_receivedStatusMessage1{false};
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mutable std::atomic<bool> m_receivedStatusMessage2{false};
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bool m_controlEnabled = false;
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void verify();
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std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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std::shared_ptr<ITable> m_table;
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private:
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void InitCANJaguar();
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bool m_isInverted = false;
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};
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