ctre_sys/
mot.rs

1//! Enums, structs, and functions related to motor controllers.
2#![allow(non_camel_case_types, non_upper_case_globals)]
3
4use std::os::raw::{c_char, c_int};
5use ErrorCode;
6
7pub enum _Handle {}
8pub type Handle = *mut _Handle;
9
10/* automatically generated by rust-bindgen, ish */
11
12#[repr(i32)]
13#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
14pub enum ControlFrame {
15    Control_3_General = 262272,
16    Control_4_Advanced = 262336,
17    Control_6_MotProfAddTrajPoint = 262464,
18}
19#[repr(i32)]
20#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
21pub enum ControlFrameEnhanced {
22    Control_3_General = 262272,
23    Control_4_Advanced = 262336,
24    Control_5_FeedbackOutputOverride = 262400,
25    Control_6_MotProfAddTrajPoint = 262464,
26}
27
28#[repr(i32)]
29#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
30pub enum ControlMode {
31    PercentOutput = 0,
32    Position = 1,
33    Velocity = 2,
34    Current = 3,
35    Follower = 5,
36    MotionProfile = 6,
37    MotionMagic = 7,
38    MotionProfileArc = 10,
39    Disabled = 15,
40}
41#[repr(i32)]
42/// How to interpret a demand value.
43#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
44pub enum DemandType {
45    /// Ignore the demand value and apply neutral/no-change.
46    Neutral = 0,
47    /**
48     * When closed-looping, set the target of the aux PID loop to the demand value.
49     *
50     * When following, follow the processed output of the combined
51     * primary/aux PID output.  The demand value is ignored.
52     */
53    AuxPID = 1,
54    /// Simply add to the output
55    ArbitraryFeedForward = 2,
56}
57impl Default for DemandType {
58    #[inline]
59    fn default() -> DemandType {
60        DemandType::Neutral
61    }
62}
63
64impl FeedbackDevice {
65    pub const CTRE_MagEncoder_Absolute: FeedbackDevice = FeedbackDevice::PulseWidthEncodedPosition;
66    pub const CTRE_MagEncoder_Relative: FeedbackDevice = FeedbackDevice::QuadEncoder;
67}
68#[repr(i32)]
69/// Motor controller with gadgeteer connector.
70#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
71pub enum FeedbackDevice {
72    None = -1,
73    QuadEncoder = 0,
74    Analog = 2,
75    Tachometer = 4,
76    PulseWidthEncodedPosition = 8,
77    SensorSum = 9,
78    SensorDifference = 10,
79    RemoteSensor0 = 11,
80    RemoteSensor1 = 12,
81    SoftwareEmulatedSensor = 15,
82}
83#[repr(i32)]
84#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
85pub enum RemoteFeedbackDevice {
86    None = -1,
87    SensorSum = 9,
88    SensorDifference = 10,
89    RemoteSensor0 = 11,
90    RemoteSensor1 = 12,
91    SoftwareEmulatedSensor = 15,
92}
93
94#[repr(u32)]
95#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
96pub enum FollowerType {
97    PercentOutput = 0,
98    AuxOutput1 = 1,
99}
100impl Default for FollowerType {
101    #[inline]
102    fn default() -> FollowerType {
103        FollowerType::PercentOutput
104    }
105}
106
107#[repr(i32)]
108#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
109pub enum LimitSwitchSource {
110    FeedbackConnector = 0,
111    RemoteTalonSRX = 1,
112    RemoteCANifier = 2,
113    Deactivated = 3,
114}
115#[repr(i32)]
116#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
117pub enum RemoteLimitSwitchSource {
118    RemoteTalonSRX = 1,
119    RemoteCANifier = 2,
120    Deactivated = 3,
121}
122#[repr(i32)]
123#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
124pub enum LimitSwitchNormal {
125    NormallyOpen = 0,
126    NormallyClosed = 1,
127    Disabled = 2,
128}
129
130#[repr(i32)]
131#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
132pub enum NeutralMode {
133    /// Use the NeutralMode that is set by the jumper wire on the CAN device
134    EEPROMSetting = 0,
135    /// Stop the motor's rotation by applying a force.
136    Coast = 1,
137    /// Stop the motor's rotation by applying a force.
138    Brake = 2,
139}
140
141#[repr(i32)]
142#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
143pub enum RemoteSensorSource {
144    Off = 0,
145    TalonSRX_SelectedSensor = 1,
146    Pigeon_Yaw = 2,
147    Pigeon_Pitch = 3,
148    Pigeon_Roll = 4,
149    CANifier_Quadrature = 5,
150    CANifier_PWMInput0 = 6,
151    CANifier_PWMInput1 = 7,
152    CANifier_PWMInput2 = 8,
153    CANifier_PWMInput3 = 9,
154    GadgeteerPigeon_Yaw = 10,
155    GadgeteerPigeon_Pitch = 11,
156    GadgeteerPigeon_Roll = 12,
157}
158
159#[repr(i32)]
160#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
161pub enum SensorTerm {
162    Sum0 = 0,
163    Sum1 = 1,
164    Diff0 = 2,
165    Diff1 = 3,
166}
167
168#[repr(i32)]
169#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
170pub enum StatusFrameEnhanced {
171    Status_1_General = 5120,
172    Status_2_Feedback0 = 5184,
173    Status_4_AinTempVbat = 5312,
174    Status_6_Misc = 5440,
175    Status_7_CommStatus = 5504,
176    Status_9_MotProfBuffer = 5632,
177    Status_10_Targets = 5696,
178    Status_12_Feedback1 = 5824,
179    Status_13_Base_PIDF0 = 5888,
180    Status_14_Turn_PIDF1 = 5952,
181    Status_15_FirmareApiStatus = 6016,
182    Status_3_Quadrature = 5248,
183    Status_8_PulseWidth = 5568,
184    Status_11_UartGadgeteer = 5760,
185}
186#[repr(i32)]
187#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
188pub enum StatusFrame {
189    Status_1_General = 5120,
190    Status_2_Feedback0 = 5184,
191    Status_4_AinTempVbat = 5312,
192    Status_6_Misc = 5440,
193    Status_7_CommStatus = 5504,
194    Status_9_MotProfBuffer = 5632,
195    Status_10_Targets = 5696,
196    Status_12_Feedback1 = 5824,
197    Status_13_Base_PIDF0 = 5888,
198    Status_14_Turn_PIDF1 = 5952,
199    Status_15_FirmareApiStatus = 6016,
200}
201
202#[repr(i32)]
203#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
204pub enum VelocityMeasPeriod {
205    Period_1Ms = 1,
206    Period_2Ms = 2,
207    Period_5Ms = 5,
208    Period_10Ms = 10,
209    Period_20Ms = 20,
210    Period_25Ms = 25,
211    Period_50Ms = 50,
212    Period_100Ms = 100,
213}
214
215#[repr(i32)]
216#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
217pub enum SetValueMotionProfile {
218    Invalid = -1,
219    Disable = 0,
220    Enable = 1,
221    Hold = 2,
222}
223impl From<c_int> for SetValueMotionProfile {
224    fn from(value: c_int) -> SetValueMotionProfile {
225        match value {
226            0 => SetValueMotionProfile::Disable,
227            1 => SetValueMotionProfile::Enable,
228            2 => SetValueMotionProfile::Hold,
229            _ => SetValueMotionProfile::Invalid,
230        }
231    }
232}
233impl Default for SetValueMotionProfile {
234    #[inline]
235    fn default() -> SetValueMotionProfile {
236        SetValueMotionProfile::Invalid
237    }
238}
239#[repr(i32)]
240/// Duration to apply to a particular trajectory pt.
241/// This time unit is ADDED to the existing base time set by
242/// ConfigMotionProfileTrajectoryPeriod().
243#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
244#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
245pub enum TrajectoryDuration {
246    T0ms = 0,
247    T5ms = 5,
248    T10ms = 10,
249    T20ms = 20,
250    T30ms = 30,
251    T40ms = 40,
252    T50ms = 50,
253    T100ms = 100,
254}
255impl Default for TrajectoryDuration {
256    #[inline]
257    fn default() -> TrajectoryDuration {
258        TrajectoryDuration::T0ms
259    }
260}
261/// Motion Profile Trajectory Point
262/// This is simply a data transfer object.
263#[repr(C)]
264#[derive(Default, Debug)]
265#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
266pub struct TrajectoryPoint {
267    /// The position to servo to.
268    pub position: f64,
269    /// The velocity to feed-forward.
270    pub velocity: f64,
271    /// Not used.  Use auxiliary_pos instead.
272    heading_deg: f64,
273    /// The position for auxiliary PID to target.
274    pub auxiliary_pos: f64,
275    /// Which slot to get PIDF gains.
276    /// PID is used for position servo.
277    /// F is used as the Kv constant for velocity feed-forward.
278    /// Typically this is hard-coded
279    /// to a particular slot, but you are free to gain schedule if need be.
280    /// gain schedule if need be.
281    /// Choose from [0,3].
282    pub profile_slot_select_0: u32,
283    /// Which slot to get PIDF gains for auxiliary PID.
284    /// This only has impact during MotionProfileArc Control mode.
285    /// Choose from [0,1].
286    pub profile_slot_select_1: u32,
287    /// Set to true to signal Talon that this is the final point, so do not
288    /// attempt to pop another trajectory point from out of the Talon buffer.
289    /// Instead continue processing this way point.  Typically the velocity
290    /// member variable should be zero so that the motor doesn't spin indefinitely.
291    pub is_last_point: bool,
292    /// Set to true to signal Talon to zero the selected sensor.
293    /// When generating MPs, one simple method is to make the first target position zero,
294    /// and the final target position the target distance from the current position.
295    /// Then when you fire the MP, the current position gets set to zero.
296    /// If this is the intent, you can set zeroPos on the first trajectory point.
297    ///
298    /// Otherwise you can leave this false for all points, and offset the positions
299    /// of all trajectory points so they are correct.
300    pub zero_pos: bool,
301    /// Duration to apply this trajectory pt.
302    /// This time unit is ADDED to the existing base time set by
303    /// ConfigMotionProfileTrajectoryPeriod().
304    pub time_dur: TrajectoryDuration,
305}
306#[test]
307fn bindgen_test_layout_TrajectoryPoint() {
308    assert_eq!(
309        ::std::mem::size_of::<TrajectoryPoint>(),
310        48usize,
311        concat!("Size of: ", stringify!(TrajectoryPoint))
312    );
313    assert_eq!(
314        ::std::mem::align_of::<TrajectoryPoint>(),
315        8usize,
316        concat!("Alignment of ", stringify!(TrajectoryPoint))
317    );
318    assert_eq!(
319        unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).position as *const _ as usize },
320        0usize,
321        concat!(
322            "Offset of field: ",
323            stringify!(TrajectoryPoint),
324            "::",
325            stringify!(position)
326        )
327    );
328    assert_eq!(
329        unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).velocity as *const _ as usize },
330        8usize,
331        concat!(
332            "Offset of field: ",
333            stringify!(TrajectoryPoint),
334            "::",
335            stringify!(velocity)
336        )
337    );
338    assert_eq!(
339        unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).heading_deg as *const _ as usize },
340        16usize,
341        concat!(
342            "Offset of field: ",
343            stringify!(TrajectoryPoint),
344            "::",
345            stringify!(heading_deg)
346        )
347    );
348    assert_eq!(
349        unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).auxiliary_pos as *const _ as usize },
350        24usize,
351        concat!(
352            "Offset of field: ",
353            stringify!(TrajectoryPoint),
354            "::",
355            stringify!(auxiliary_pos)
356        )
357    );
358    assert_eq!(
359        unsafe {
360            &(*(::std::ptr::null::<TrajectoryPoint>())).profile_slot_select_0 as *const _ as usize
361        },
362        32usize,
363        concat!(
364            "Offset of field: ",
365            stringify!(TrajectoryPoint),
366            "::",
367            stringify!(profile_slot_select_0)
368        )
369    );
370    assert_eq!(
371        unsafe {
372            &(*(::std::ptr::null::<TrajectoryPoint>())).profile_slot_select_1 as *const _ as usize
373        },
374        36usize,
375        concat!(
376            "Offset of field: ",
377            stringify!(TrajectoryPoint),
378            "::",
379            stringify!(profile_slot_select1)
380        )
381    );
382    assert_eq!(
383        unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).is_last_point as *const _ as usize },
384        40usize,
385        concat!(
386            "Offset of field: ",
387            stringify!(TrajectoryPoint),
388            "::",
389            stringify!(is_last_point)
390        )
391    );
392    assert_eq!(
393        unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).zero_pos as *const _ as usize },
394        41usize,
395        concat!(
396            "Offset of field: ",
397            stringify!(TrajectoryPoint),
398            "::",
399            stringify!(zero_pos)
400        )
401    );
402    assert_eq!(
403        unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).time_dur as *const _ as usize },
404        44usize,
405        concat!(
406            "Offset of field: ",
407            stringify!(TrajectoryPoint),
408            "::",
409            stringify!(time_dur)
410        )
411    );
412}
413/// Motion Profile Status
414/// This is simply a data transer object.
415#[repr(C)]
416#[derive(Default, Debug, PartialEq, Eq)]
417pub struct MotionProfileStatus {
418    /// The available empty slots in the trajectory buffer.
419    ///
420    /// The robot API holds a "top buffer" of trajectory points, so your applicaion
421    /// can dump several points at once.  The API will then stream them into the Talon's
422    /// low-level buffer, allowing the Talon to act on them.
423    pub top_buffer_rem: c_int,
424    /// The number of points in the top trajectory buffer.
425    pub top_buffer_cnt: c_int,
426    /// The number of points in the low level Talon buffer.
427    pub btm_buffer_cnt: c_int,
428    /// Set if `is_underrun` ever gets set.
429    /// Only is cleared by clearMotionProfileHasUnderrun() to ensure
430    /// robot logic can react or instrument it.
431    /// @see clearMotionProfileHasUnderrun()
432    pub has_underrun: bool,
433    /// This is set if Talon needs to shift a point from its buffer into
434    /// the active trajectory point however the buffer is empty. This gets cleared
435    /// automatically when is resolved.
436    pub is_underrun: bool,
437    /// True if the active trajectory point has not empty, false otherwise.
438    /// The members in activePoint are only valid if this signal is set.
439    pub active_point_valid: bool,
440    pub is_last: bool,
441    /// Selected slot for PID Loop 0
442    pub profile_slot_select_0: c_int,
443    /// Selected slot for PID Loop 0
444    pub profile_slot_select_1: c_int,
445    /// The current output mode of the motion profile executer (disabled, enabled, or hold).
446    /// When changing the set() value in MP mode, it's important to check this signal to
447    /// confirm the change takes effect before interacting with the top buffer.
448    pub output_enable: SetValueMotionProfile,
449    /// The applied duration of the active trajectory point
450    pub time_dur_ms: c_int,
451}
452#[test]
453fn bindgen_test_layout_MotionProfileStatus() {
454    assert_eq!(
455        ::std::mem::size_of::<MotionProfileStatus>(),
456        32usize,
457        concat!("Size of: ", stringify!(MotionProfileStatus))
458    );
459    assert_eq!(
460        ::std::mem::align_of::<MotionProfileStatus>(),
461        4usize,
462        concat!("Alignment of ", stringify!(MotionProfileStatus))
463    );
464    assert_eq!(
465        unsafe {
466            &(*(::std::ptr::null::<MotionProfileStatus>())).top_buffer_rem as *const _ as usize
467        },
468        0usize,
469        concat!(
470            "Offset of field: ",
471            stringify!(MotionProfileStatus),
472            "::",
473            stringify!(top_buffer_rem)
474        )
475    );
476    assert_eq!(
477        unsafe {
478            &(*(::std::ptr::null::<MotionProfileStatus>())).top_buffer_cnt as *const _ as usize
479        },
480        4usize,
481        concat!(
482            "Offset of field: ",
483            stringify!(MotionProfileStatus),
484            "::",
485            stringify!(top_buffer_cnt)
486        )
487    );
488    assert_eq!(
489        unsafe {
490            &(*(::std::ptr::null::<MotionProfileStatus>())).btm_buffer_cnt as *const _ as usize
491        },
492        8usize,
493        concat!(
494            "Offset of field: ",
495            stringify!(MotionProfileStatus),
496            "::",
497            stringify!(btm_buffer_cnt)
498        )
499    );
500    assert_eq!(
501        unsafe {
502            &(*(::std::ptr::null::<MotionProfileStatus>())).has_underrun as *const _ as usize
503        },
504        12usize,
505        concat!(
506            "Offset of field: ",
507            stringify!(MotionProfileStatus),
508            "::",
509            stringify!(has_underrun)
510        )
511    );
512    assert_eq!(
513        unsafe { &(*(::std::ptr::null::<MotionProfileStatus>())).is_underrun as *const _ as usize },
514        13usize,
515        concat!(
516            "Offset of field: ",
517            stringify!(MotionProfileStatus),
518            "::",
519            stringify!(is_underrun)
520        )
521    );
522    assert_eq!(
523        unsafe {
524            &(*(::std::ptr::null::<MotionProfileStatus>())).active_point_valid as *const _ as usize
525        },
526        14usize,
527        concat!(
528            "Offset of field: ",
529            stringify!(MotionProfileStatus),
530            "::",
531            stringify!(active_point_valid)
532        )
533    );
534    assert_eq!(
535        unsafe { &(*(::std::ptr::null::<MotionProfileStatus>())).is_last as *const _ as usize },
536        15usize,
537        concat!(
538            "Offset of field: ",
539            stringify!(MotionProfileStatus),
540            "::",
541            stringify!(is_last)
542        )
543    );
544    assert_eq!(
545        unsafe {
546            &(*(::std::ptr::null::<MotionProfileStatus>())).profile_slot_select_0 as *const _
547                as usize
548        },
549        16usize,
550        concat!(
551            "Offset of field: ",
552            stringify!(MotionProfileStatus),
553            "::",
554            stringify!(profile_slot_select_0)
555        )
556    );
557    assert_eq!(
558        unsafe {
559            &(*(::std::ptr::null::<MotionProfileStatus>())).profile_slot_select_1 as *const _
560                as usize
561        },
562        20usize,
563        concat!(
564            "Offset of field: ",
565            stringify!(MotionProfileStatus),
566            "::",
567            stringify!(profile_slot_select_1)
568        )
569    );
570    assert_eq!(
571        unsafe {
572            &(*(::std::ptr::null::<MotionProfileStatus>())).output_enable as *const _ as usize
573        },
574        24usize,
575        concat!(
576            "Offset of field: ",
577            stringify!(MotionProfileStatus),
578            "::",
579            stringify!(output_enable)
580        )
581    );
582    assert_eq!(
583        unsafe { &(*(::std::ptr::null::<MotionProfileStatus>())).time_dur_ms as *const _ as usize },
584        28usize,
585        concat!(
586            "Offset of field: ",
587            stringify!(MotionProfileStatus),
588            "::",
589            stringify!(time_dur_ms)
590        )
591    );
592}
593
594extern "C" {
595    pub fn c_MotController_Create1(baseArbId: c_int) -> Handle;
596
597    pub fn c_MotController_GetDeviceNumber(handle: Handle, deviceNumber: *mut c_int) -> ErrorCode;
598
599    pub fn c_MotController_GetDescription(
600        handle: Handle,
601        toFill: *mut c_char,
602        toFillByteSz: c_int,
603        numBytesFilled: *mut c_int,
604    ) -> ErrorCode;
605
606    pub fn c_MotController_SetDemand(
607        handle: Handle,
608        mode: c_int,
609        demand0: c_int,
610        demand1: c_int,
611    ) -> ErrorCode;
612
613    pub fn c_MotController_Set_4(
614        handle: Handle,
615        mode: c_int,
616        demand0: f64,
617        demand1: f64,
618        demand1Type: c_int,
619    ) -> ErrorCode;
620
621    pub fn c_MotController_SetNeutralMode(handle: Handle, neutralMode: c_int);
622
623    pub fn c_MotController_SetSensorPhase(handle: Handle, PhaseSensor: bool);
624
625    pub fn c_MotController_SetInverted(handle: Handle, invert: bool);
626
627    pub fn c_MotController_ConfigOpenLoopRamp(
628        handle: Handle,
629        secondsFromNeutralToFull: f64,
630        timeoutMs: c_int,
631    ) -> ErrorCode;
632
633    pub fn c_MotController_ConfigClosedLoopRamp(
634        handle: Handle,
635        secondsFromNeutralToFull: f64,
636        timeoutMs: c_int,
637    ) -> ErrorCode;
638
639    pub fn c_MotController_ConfigPeakOutputForward(
640        handle: Handle,
641        percentOut: f64,
642        timeoutMs: c_int,
643    ) -> ErrorCode;
644
645    pub fn c_MotController_ConfigPeakOutputReverse(
646        handle: Handle,
647        percentOut: f64,
648        timeoutMs: c_int,
649    ) -> ErrorCode;
650
651    pub fn c_MotController_ConfigNominalOutputForward(
652        handle: Handle,
653        percentOut: f64,
654        timeoutMs: c_int,
655    ) -> ErrorCode;
656
657    pub fn c_MotController_ConfigNominalOutputReverse(
658        handle: Handle,
659        percentOut: f64,
660        timeoutMs: c_int,
661    ) -> ErrorCode;
662
663    pub fn c_MotController_ConfigNeutralDeadband(
664        handle: Handle,
665        percentDeadband: f64,
666        timeoutMs: c_int,
667    ) -> ErrorCode;
668
669    pub fn c_MotController_ConfigVoltageCompSaturation(
670        handle: Handle,
671        voltage: f64,
672        timeoutMs: c_int,
673    ) -> ErrorCode;
674
675    pub fn c_MotController_ConfigVoltageMeasurementFilter(
676        handle: Handle,
677        filterWindowSamples: c_int,
678        timeoutMs: c_int,
679    ) -> ErrorCode;
680
681    pub fn c_MotController_EnableVoltageCompensation(handle: Handle, enable: bool);
682
683    pub fn c_MotController_GetBusVoltage(handle: Handle, voltage: *mut f64) -> ErrorCode;
684
685    pub fn c_MotController_GetMotorOutputPercent(
686        handle: Handle,
687        percentOutput: *mut f64,
688    ) -> ErrorCode;
689
690    pub fn c_MotController_GetOutputCurrent(handle: Handle, current: *mut f64) -> ErrorCode;
691
692    pub fn c_MotController_GetTemperature(handle: Handle, temperature: *mut f64) -> ErrorCode;
693
694    pub fn c_MotController_ConfigSelectedFeedbackSensor(
695        handle: Handle,
696        feedbackDevice: c_int,
697        pidIdx: c_int,
698        timeoutMs: c_int,
699    ) -> ErrorCode;
700
701    pub fn c_MotController_ConfigSelectedFeedbackCoefficient(
702        handle: Handle,
703        coefficient: f64,
704        pidIdx: c_int,
705        timeoutMs: c_int,
706    ) -> ErrorCode;
707
708    pub fn c_MotController_ConfigRemoteFeedbackFilter(
709        handle: Handle,
710        deviceID: c_int,
711        remoteSensorSource: c_int,
712        remoteOrdinal: c_int,
713        timeoutMs: c_int,
714    ) -> ErrorCode;
715
716    pub fn c_MotController_ConfigSensorTerm(
717        handle: Handle,
718        sensorTerm: c_int,
719        feedbackDevice: c_int,
720        timeoutMs: c_int,
721    ) -> ErrorCode;
722
723    pub fn c_MotController_GetSelectedSensorPosition(
724        handle: Handle,
725        param: *mut c_int,
726        pidIdx: c_int,
727    ) -> ErrorCode;
728
729    pub fn c_MotController_GetSelectedSensorVelocity(
730        handle: Handle,
731        param: *mut c_int,
732        pidIdx: c_int,
733    ) -> ErrorCode;
734
735    pub fn c_MotController_SetSelectedSensorPosition(
736        handle: Handle,
737        sensorPos: c_int,
738        pidIdx: c_int,
739        timeoutMs: c_int,
740    ) -> ErrorCode;
741
742    pub fn c_MotController_SetControlFramePeriod(
743        handle: Handle,
744        frame: c_int,
745        periodMs: c_int,
746    ) -> ErrorCode;
747
748    pub fn c_MotController_SetStatusFramePeriod(
749        handle: Handle,
750        frame: c_int,
751        periodMs: c_int,
752        timeoutMs: c_int,
753    ) -> ErrorCode;
754
755    pub fn c_MotController_GetStatusFramePeriod(
756        handle: Handle,
757        frame: c_int,
758        periodMs: *mut c_int,
759        timeoutMs: c_int,
760    ) -> ErrorCode;
761
762    pub fn c_MotController_ConfigVelocityMeasurementPeriod(
763        handle: Handle,
764        period: c_int,
765        timeoutMs: c_int,
766    ) -> ErrorCode;
767
768    pub fn c_MotController_ConfigVelocityMeasurementWindow(
769        handle: Handle,
770        windowSize: c_int,
771        timeoutMs: c_int,
772    ) -> ErrorCode;
773
774    pub fn c_MotController_ConfigForwardLimitSwitchSource(
775        handle: Handle,
776        type_: c_int,
777        normalOpenOrClose: c_int,
778        deviceID: c_int,
779        timeoutMs: c_int,
780    ) -> ErrorCode;
781
782    pub fn c_MotController_ConfigReverseLimitSwitchSource(
783        handle: Handle,
784        type_: c_int,
785        normalOpenOrClose: c_int,
786        deviceID: c_int,
787        timeoutMs: c_int,
788    ) -> ErrorCode;
789
790    pub fn c_MotController_OverrideLimitSwitchesEnable(handle: Handle, enable: bool);
791
792    pub fn c_MotController_ConfigForwardSoftLimitThreshold(
793        handle: Handle,
794        forwardSensorLimit: c_int,
795        timeoutMs: c_int,
796    ) -> ErrorCode;
797
798    pub fn c_MotController_ConfigReverseSoftLimitThreshold(
799        handle: Handle,
800        reverseSensorLimit: c_int,
801        timeoutMs: c_int,
802    ) -> ErrorCode;
803
804    pub fn c_MotController_ConfigForwardSoftLimitEnable(
805        handle: Handle,
806        enable: bool,
807        timeoutMs: c_int,
808    ) -> ErrorCode;
809
810    pub fn c_MotController_ConfigReverseSoftLimitEnable(
811        handle: Handle,
812        enable: bool,
813        timeoutMs: c_int,
814    ) -> ErrorCode;
815
816    pub fn c_MotController_OverrideSoftLimitsEnable(handle: Handle, enable: bool);
817
818    pub fn c_MotController_Config_kP(
819        handle: Handle,
820        slotIdx: c_int,
821        value: f64,
822        timeoutMs: c_int,
823    ) -> ErrorCode;
824
825    pub fn c_MotController_Config_kI(
826        handle: Handle,
827        slotIdx: c_int,
828        value: f64,
829        timeoutMs: c_int,
830    ) -> ErrorCode;
831
832    pub fn c_MotController_Config_kD(
833        handle: Handle,
834        slotIdx: c_int,
835        value: f64,
836        timeoutMs: c_int,
837    ) -> ErrorCode;
838
839    pub fn c_MotController_Config_kF(
840        handle: Handle,
841        slotIdx: c_int,
842        value: f64,
843        timeoutMs: c_int,
844    ) -> ErrorCode;
845
846    pub fn c_MotController_Config_IntegralZone(
847        handle: Handle,
848        slotIdx: c_int,
849        izone: f64,
850        timeoutMs: c_int,
851    ) -> ErrorCode;
852
853    pub fn c_MotController_ConfigAllowableClosedloopError(
854        handle: Handle,
855        slotIdx: c_int,
856        allowableClosedLoopError: c_int,
857        timeoutMs: c_int,
858    ) -> ErrorCode;
859
860    pub fn c_MotController_ConfigMaxIntegralAccumulator(
861        handle: Handle,
862        slotIdx: c_int,
863        iaccum: f64,
864        timeoutMs: c_int,
865    ) -> ErrorCode;
866
867    pub fn c_MotController_ConfigClosedLoopPeakOutput(
868        handle: Handle,
869        slotIdx: c_int,
870        percentOut: f64,
871        timeoutMs: c_int,
872    ) -> ErrorCode;
873
874    pub fn c_MotController_ConfigClosedLoopPeriod(
875        handle: Handle,
876        slotIdx: c_int,
877        loopTimeMs: c_int,
878        timeoutMs: c_int,
879    ) -> ErrorCode;
880
881    pub fn c_MotController_SetIntegralAccumulator(
882        handle: Handle,
883        iaccum: f64,
884        pidIdx: c_int,
885        timeoutMs: c_int,
886    ) -> ErrorCode;
887
888    pub fn c_MotController_GetClosedLoopError(
889        handle: Handle,
890        closedLoopError: *mut c_int,
891        pidIdx: c_int,
892    ) -> ErrorCode;
893
894    pub fn c_MotController_GetIntegralAccumulator(
895        handle: Handle,
896        iaccum: *mut f64,
897        pidIdx: c_int,
898    ) -> ErrorCode;
899
900    pub fn c_MotController_GetErrorDerivative(
901        handle: Handle,
902        derror: *mut f64,
903        pidIdx: c_int,
904    ) -> ErrorCode;
905
906    pub fn c_MotController_SelectProfileSlot(
907        handle: Handle,
908        slotIdx: c_int,
909        pidIdx: c_int,
910    ) -> ErrorCode;
911
912    pub fn c_MotController_GetActiveTrajectoryPosition(
913        handle: Handle,
914        param: *mut c_int,
915    ) -> ErrorCode;
916
917    pub fn c_MotController_GetActiveTrajectoryVelocity(
918        handle: Handle,
919        param: *mut c_int,
920    ) -> ErrorCode;
921
922    pub fn c_MotController_GetActiveTrajectoryHeading(handle: Handle, param: *mut f64)
923        -> ErrorCode;
924
925    pub fn c_MotController_GetActiveTrajectoryAll(
926        handle: Handle,
927        vel: *mut c_int,
928        pos: *mut c_int,
929        heading: *mut f64,
930    ) -> ErrorCode;
931
932    pub fn c_MotController_ConfigMotionCruiseVelocity(
933        handle: Handle,
934        sensorUnitsPer100ms: c_int,
935        timeoutMs: c_int,
936    ) -> ErrorCode;
937
938    pub fn c_MotController_ConfigMotionAcceleration(
939        handle: Handle,
940        sensorUnitsPer100msPerSec: c_int,
941        timeoutMs: c_int,
942    ) -> ErrorCode;
943
944    pub fn c_MotController_ClearMotionProfileTrajectories(handle: Handle) -> ErrorCode;
945
946    pub fn c_MotController_GetMotionProfileTopLevelBufferCount(
947        handle: Handle,
948        value: *mut c_int,
949    ) -> ErrorCode;
950
951    pub fn c_MotController_PushMotionProfileTrajectory(
952        handle: Handle,
953        position: f64,
954        velocity: f64,
955        headingDeg: f64,
956        profileSlotSelect: c_int,
957        isLastPoint: bool,
958        zeroPos: bool,
959    ) -> ErrorCode;
960
961    pub fn c_MotController_PushMotionProfileTrajectory_2(
962        handle: Handle,
963        position: f64,
964        velocity: f64,
965        headingDeg: f64,
966        profileSlotSelect0: c_int,
967        profileSlotSelect1: c_int,
968        isLastPoint: bool,
969        zeroPos: bool,
970        durationMs: c_int,
971    ) -> ErrorCode;
972
973    pub fn c_MotController_IsMotionProfileTopLevelBufferFull(
974        handle: Handle,
975        value: *mut bool,
976    ) -> ErrorCode;
977
978    pub fn c_MotController_ProcessMotionProfileBuffer(handle: Handle) -> ErrorCode;
979
980    pub fn c_MotController_GetMotionProfileStatus(
981        handle: Handle,
982        topBufferRem: *mut c_int,
983        topBufferCnt: *mut c_int,
984        btmBufferCnt: *mut c_int,
985        hasUnderrun: *mut bool,
986        isUnderrun: *mut bool,
987        activePointValid: *mut bool,
988        isLast: *mut bool,
989        profileSlotSelect: *mut c_int,
990        outputEnable: *mut c_int,
991    ) -> ErrorCode;
992
993    pub fn c_MotController_GetMotionProfileStatus_2(
994        handle: Handle,
995        topBufferRem: *mut c_int,
996        topBufferCnt: *mut c_int,
997        btmBufferCnt: *mut c_int,
998        hasUnderrun: *mut bool,
999        isUnderrun: *mut bool,
1000        activePointValid: *mut bool,
1001        isLast: *mut bool,
1002        profileSlotSelect: *mut c_int,
1003        outputEnable: *mut c_int,
1004        timeDurMs: *mut c_int,
1005        profileSlotSelect1: *mut c_int,
1006    ) -> ErrorCode;
1007
1008    pub fn c_MotController_ClearMotionProfileHasUnderrun(
1009        handle: Handle,
1010        timeoutMs: c_int,
1011    ) -> ErrorCode;
1012
1013    pub fn c_MotController_ChangeMotionControlFramePeriod(
1014        handle: Handle,
1015        periodMs: c_int,
1016    ) -> ErrorCode;
1017
1018    pub fn c_MotController_ConfigMotionProfileTrajectoryPeriod(
1019        handle: Handle,
1020        durationMs: c_int,
1021        timeoutMs: c_int,
1022    ) -> ErrorCode;
1023
1024    pub fn c_MotController_GetLastError(handle: Handle) -> ErrorCode;
1025
1026    pub fn c_MotController_GetFirmwareVersion(handle: Handle, arg1: *mut c_int) -> ErrorCode;
1027
1028    pub fn c_MotController_HasResetOccurred(handle: Handle, arg1: *mut bool) -> ErrorCode;
1029
1030    pub fn c_MotController_ConfigSetCustomParam(
1031        handle: Handle,
1032        newValue: c_int,
1033        paramIndex: c_int,
1034        timeoutMs: c_int,
1035    ) -> ErrorCode;
1036
1037    pub fn c_MotController_ConfigGetCustomParam(
1038        handle: Handle,
1039        readValue: *mut c_int,
1040        paramIndex: c_int,
1041        timoutMs: c_int,
1042    ) -> ErrorCode;
1043
1044    pub fn c_MotController_ConfigSetParameter(
1045        handle: Handle,
1046        param: c_int,
1047        value: f64,
1048        subValue: c_int,
1049        ordinal: c_int,
1050        timeoutMs: c_int,
1051    ) -> ErrorCode;
1052
1053    pub fn c_MotController_ConfigGetParameter(
1054        handle: Handle,
1055        param: c_int,
1056        value: *mut f64,
1057        ordinal: c_int,
1058        timeoutMs: c_int,
1059    ) -> ErrorCode;
1060
1061    pub fn c_MotController_ConfigPeakCurrentLimit(
1062        handle: Handle,
1063        amps: c_int,
1064        timeoutMs: c_int,
1065    ) -> ErrorCode;
1066
1067    pub fn c_MotController_ConfigPeakCurrentDuration(
1068        handle: Handle,
1069        milliseconds: c_int,
1070        timeoutMs: c_int,
1071    ) -> ErrorCode;
1072
1073    pub fn c_MotController_ConfigContinuousCurrentLimit(
1074        handle: Handle,
1075        amps: c_int,
1076        timeoutMs: c_int,
1077    ) -> ErrorCode;
1078
1079    pub fn c_MotController_EnableCurrentLimit(handle: Handle, enable: bool) -> ErrorCode;
1080
1081    pub fn c_MotController_SetLastError(handle: Handle, error: c_int) -> ErrorCode;
1082
1083    pub fn c_MotController_GetAnalogIn(handle: Handle, param: *mut c_int) -> ErrorCode;
1084
1085    pub fn c_MotController_SetAnalogPosition(
1086        handle: Handle,
1087        newPosition: c_int,
1088        timeoutMs: c_int,
1089    ) -> ErrorCode;
1090
1091    pub fn c_MotController_GetAnalogInRaw(handle: Handle, param: *mut c_int) -> ErrorCode;
1092
1093    pub fn c_MotController_GetAnalogInVel(handle: Handle, param: *mut c_int) -> ErrorCode;
1094
1095    pub fn c_MotController_GetQuadraturePosition(handle: Handle, param: *mut c_int) -> ErrorCode;
1096
1097    pub fn c_MotController_SetQuadraturePosition(
1098        handle: Handle,
1099        newPosition: c_int,
1100        timeoutMs: c_int,
1101    ) -> ErrorCode;
1102
1103    pub fn c_MotController_GetQuadratureVelocity(handle: Handle, param: *mut c_int) -> ErrorCode;
1104
1105    pub fn c_MotController_GetPulseWidthPosition(handle: Handle, param: *mut c_int) -> ErrorCode;
1106
1107    pub fn c_MotController_SetPulseWidthPosition(
1108        handle: Handle,
1109        newPosition: c_int,
1110        timeoutMs: c_int,
1111    ) -> ErrorCode;
1112
1113    pub fn c_MotController_GetPulseWidthVelocity(handle: Handle, param: *mut c_int) -> ErrorCode;
1114
1115    pub fn c_MotController_GetPulseWidthRiseToFallUs(
1116        handle: Handle,
1117        param: *mut c_int,
1118    ) -> ErrorCode;
1119
1120    pub fn c_MotController_GetPulseWidthRiseToRiseUs(
1121        handle: Handle,
1122        param: *mut c_int,
1123    ) -> ErrorCode;
1124
1125    pub fn c_MotController_GetPinStateQuadA(handle: Handle, param: *mut c_int) -> ErrorCode;
1126
1127    pub fn c_MotController_GetPinStateQuadB(handle: Handle, param: *mut c_int) -> ErrorCode;
1128
1129    pub fn c_MotController_GetPinStateQuadIdx(handle: Handle, param: *mut c_int) -> ErrorCode;
1130
1131    pub fn c_MotController_IsFwdLimitSwitchClosed(handle: Handle, param: *mut c_int) -> ErrorCode;
1132
1133    pub fn c_MotController_IsRevLimitSwitchClosed(handle: Handle, param: *mut c_int) -> ErrorCode;
1134
1135    pub fn c_MotController_GetFaults(handle: Handle, param: *mut c_int) -> ErrorCode;
1136
1137    pub fn c_MotController_GetStickyFaults(handle: Handle, param: *mut c_int) -> ErrorCode;
1138
1139    pub fn c_MotController_ClearStickyFaults(handle: Handle, timeoutMs: c_int) -> ErrorCode;
1140
1141    pub fn c_MotController_SelectDemandType(handle: Handle, enable: bool) -> ErrorCode;
1142
1143    pub fn c_MotController_SetMPEOutput(handle: Handle, MpeOutput: c_int) -> ErrorCode;
1144
1145    pub fn c_MotController_EnableHeadingHold(handle: Handle, enable: bool) -> ErrorCode;
1146
1147    pub fn c_MotController_GetAnalogInAll(
1148        handle: Handle,
1149        withOv: *mut c_int,
1150        raw: *mut c_int,
1151        vel: *mut c_int,
1152    ) -> ErrorCode;
1153
1154    pub fn c_MotController_GetQuadratureSensor(
1155        handle: Handle,
1156        pos: *mut c_int,
1157        vel: *mut c_int,
1158    ) -> ErrorCode;
1159
1160    pub fn c_MotController_GetPulseWidthAll(
1161        handle: Handle,
1162        pos: *mut c_int,
1163        vel: *mut c_int,
1164        riseToRiseUs: *mut c_int,
1165        riseToFallUs: *mut c_int,
1166    ) -> ErrorCode;
1167
1168    pub fn c_MotController_GetQuadPinStates(
1169        handle: Handle,
1170        quadA: *mut c_int,
1171        quadB: *mut c_int,
1172        quadIdx: *mut c_int,
1173    ) -> ErrorCode;
1174
1175    pub fn c_MotController_GetLimitSwitchState(
1176        handle: Handle,
1177        isFwdClosed: *mut c_int,
1178        isRevClosed: *mut c_int,
1179    ) -> ErrorCode;
1180
1181    pub fn c_MotController_GetClosedLoopTarget(
1182        handle: Handle,
1183        value: *mut c_int,
1184        pidIdx: c_int,
1185    ) -> ErrorCode;
1186}
ctre_sys/mot.rs

ctre_sys/
mot.rs
