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#![allow(non_camel_case_types, non_upper_case_globals)]
use std::os::raw::{c_char, c_int};
use ErrorCode;
pub enum _Handle {}
pub type Handle = *mut _Handle;
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum ControlFrame {
Control_3_General = 262272,
Control_4_Advanced = 262336,
Control_6_MotProfAddTrajPoint = 262464,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum ControlFrameEnhanced {
Control_3_General = 262272,
Control_4_Advanced = 262336,
Control_5_FeedbackOutputOverride = 262400,
Control_6_MotProfAddTrajPoint = 262464,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum ControlMode {
PercentOutput = 0,
Position = 1,
Velocity = 2,
Current = 3,
Follower = 5,
MotionProfile = 6,
MotionMagic = 7,
MotionProfileArc = 10,
Disabled = 15,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum DemandType {
Neutral = 0,
AuxPID = 1,
ArbitraryFeedForward = 2,
}
impl Default for DemandType {
#[inline]
fn default() -> DemandType {
DemandType::Neutral
}
}
impl FeedbackDevice {
pub const CTRE_MagEncoder_Absolute: FeedbackDevice = FeedbackDevice::PulseWidthEncodedPosition;
pub const CTRE_MagEncoder_Relative: FeedbackDevice = FeedbackDevice::QuadEncoder;
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum FeedbackDevice {
None = -1,
QuadEncoder = 0,
Analog = 2,
Tachometer = 4,
PulseWidthEncodedPosition = 8,
SensorSum = 9,
SensorDifference = 10,
RemoteSensor0 = 11,
RemoteSensor1 = 12,
SoftwareEmulatedSensor = 15,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum RemoteFeedbackDevice {
None = -1,
SensorSum = 9,
SensorDifference = 10,
RemoteSensor0 = 11,
RemoteSensor1 = 12,
SoftwareEmulatedSensor = 15,
}
#[repr(u32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum FollowerType {
PercentOutput = 0,
AuxOutput1 = 1,
}
impl Default for FollowerType {
#[inline]
fn default() -> FollowerType {
FollowerType::PercentOutput
}
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum LimitSwitchSource {
FeedbackConnector = 0,
RemoteTalonSRX = 1,
RemoteCANifier = 2,
Deactivated = 3,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum RemoteLimitSwitchSource {
RemoteTalonSRX = 1,
RemoteCANifier = 2,
Deactivated = 3,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum LimitSwitchNormal {
NormallyOpen = 0,
NormallyClosed = 1,
Disabled = 2,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum NeutralMode {
EEPROMSetting = 0,
Coast = 1,
Brake = 2,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum RemoteSensorSource {
Off = 0,
TalonSRX_SelectedSensor = 1,
Pigeon_Yaw = 2,
Pigeon_Pitch = 3,
Pigeon_Roll = 4,
CANifier_Quadrature = 5,
CANifier_PWMInput0 = 6,
CANifier_PWMInput1 = 7,
CANifier_PWMInput2 = 8,
CANifier_PWMInput3 = 9,
GadgeteerPigeon_Yaw = 10,
GadgeteerPigeon_Pitch = 11,
GadgeteerPigeon_Roll = 12,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum SensorTerm {
Sum0 = 0,
Sum1 = 1,
Diff0 = 2,
Diff1 = 3,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum StatusFrameEnhanced {
Status_1_General = 5120,
Status_2_Feedback0 = 5184,
Status_4_AinTempVbat = 5312,
Status_6_Misc = 5440,
Status_7_CommStatus = 5504,
Status_9_MotProfBuffer = 5632,
Status_10_Targets = 5696,
Status_12_Feedback1 = 5824,
Status_13_Base_PIDF0 = 5888,
Status_14_Turn_PIDF1 = 5952,
Status_15_FirmareApiStatus = 6016,
Status_3_Quadrature = 5248,
Status_8_PulseWidth = 5568,
Status_11_UartGadgeteer = 5760,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum StatusFrame {
Status_1_General = 5120,
Status_2_Feedback0 = 5184,
Status_4_AinTempVbat = 5312,
Status_6_Misc = 5440,
Status_7_CommStatus = 5504,
Status_9_MotProfBuffer = 5632,
Status_10_Targets = 5696,
Status_12_Feedback1 = 5824,
Status_13_Base_PIDF0 = 5888,
Status_14_Turn_PIDF1 = 5952,
Status_15_FirmareApiStatus = 6016,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum VelocityMeasPeriod {
Period_1Ms = 1,
Period_2Ms = 2,
Period_5Ms = 5,
Period_10Ms = 10,
Period_20Ms = 20,
Period_25Ms = 25,
Period_50Ms = 50,
Period_100Ms = 100,
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
pub enum SetValueMotionProfile {
Invalid = -1,
Disable = 0,
Enable = 1,
Hold = 2,
}
impl From<c_int> for SetValueMotionProfile {
fn from(value: c_int) -> SetValueMotionProfile {
match value {
0 => SetValueMotionProfile::Disable,
1 => SetValueMotionProfile::Enable,
2 => SetValueMotionProfile::Hold,
_ => SetValueMotionProfile::Invalid,
}
}
}
impl Default for SetValueMotionProfile {
#[inline]
fn default() -> SetValueMotionProfile {
SetValueMotionProfile::Invalid
}
}
#[repr(i32)]
#[derive(Debug, Copy, Clone, PartialEq, Eq, Hash)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub enum TrajectoryDuration {
T0ms = 0,
T5ms = 5,
T10ms = 10,
T20ms = 20,
T30ms = 30,
T40ms = 40,
T50ms = 50,
T100ms = 100,
}
impl Default for TrajectoryDuration {
#[inline]
fn default() -> TrajectoryDuration {
TrajectoryDuration::T0ms
}
}
#[repr(C)]
#[derive(Default, Debug)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct TrajectoryPoint {
pub position: f64,
pub velocity: f64,
heading_deg: f64,
pub auxiliary_pos: f64,
pub profile_slot_select_0: u32,
pub profile_slot_select_1: u32,
pub is_last_point: bool,
pub zero_pos: bool,
pub time_dur: TrajectoryDuration,
}
#[test]
fn bindgen_test_layout_TrajectoryPoint() {
assert_eq!(
::std::mem::size_of::<TrajectoryPoint>(),
48usize,
concat!("Size of: ", stringify!(TrajectoryPoint))
);
assert_eq!(
::std::mem::align_of::<TrajectoryPoint>(),
8usize,
concat!("Alignment of ", stringify!(TrajectoryPoint))
);
assert_eq!(
unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).position as *const _ as usize },
0usize,
concat!(
"Offset of field: ",
stringify!(TrajectoryPoint),
"::",
stringify!(position)
)
);
assert_eq!(
unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).velocity as *const _ as usize },
8usize,
concat!(
"Offset of field: ",
stringify!(TrajectoryPoint),
"::",
stringify!(velocity)
)
);
assert_eq!(
unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).heading_deg as *const _ as usize },
16usize,
concat!(
"Offset of field: ",
stringify!(TrajectoryPoint),
"::",
stringify!(heading_deg)
)
);
assert_eq!(
unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).auxiliary_pos as *const _ as usize },
24usize,
concat!(
"Offset of field: ",
stringify!(TrajectoryPoint),
"::",
stringify!(auxiliary_pos)
)
);
assert_eq!(
unsafe {
&(*(::std::ptr::null::<TrajectoryPoint>())).profile_slot_select_0 as *const _ as usize
},
32usize,
concat!(
"Offset of field: ",
stringify!(TrajectoryPoint),
"::",
stringify!(profile_slot_select_0)
)
);
assert_eq!(
unsafe {
&(*(::std::ptr::null::<TrajectoryPoint>())).profile_slot_select_1 as *const _ as usize
},
36usize,
concat!(
"Offset of field: ",
stringify!(TrajectoryPoint),
"::",
stringify!(profile_slot_select1)
)
);
assert_eq!(
unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).is_last_point as *const _ as usize },
40usize,
concat!(
"Offset of field: ",
stringify!(TrajectoryPoint),
"::",
stringify!(is_last_point)
)
);
assert_eq!(
unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).zero_pos as *const _ as usize },
41usize,
concat!(
"Offset of field: ",
stringify!(TrajectoryPoint),
"::",
stringify!(zero_pos)
)
);
assert_eq!(
unsafe { &(*(::std::ptr::null::<TrajectoryPoint>())).time_dur as *const _ as usize },
44usize,
concat!(
"Offset of field: ",
stringify!(TrajectoryPoint),
"::",
stringify!(time_dur)
)
);
}
#[repr(C)]
#[derive(Default, Debug, PartialEq, Eq)]
pub struct MotionProfileStatus {
pub top_buffer_rem: c_int,
pub top_buffer_cnt: c_int,
pub btm_buffer_cnt: c_int,
pub has_underrun: bool,
pub is_underrun: bool,
pub active_point_valid: bool,
pub is_last: bool,
pub profile_slot_select_0: c_int,
pub profile_slot_select_1: c_int,
pub output_enable: SetValueMotionProfile,
pub time_dur_ms: c_int,
}
#[test]
fn bindgen_test_layout_MotionProfileStatus() {
assert_eq!(
::std::mem::size_of::<MotionProfileStatus>(),
32usize,
concat!("Size of: ", stringify!(MotionProfileStatus))
);
assert_eq!(
::std::mem::align_of::<MotionProfileStatus>(),
4usize,
concat!("Alignment of ", stringify!(MotionProfileStatus))
);
assert_eq!(
unsafe {
&(*(::std::ptr::null::<MotionProfileStatus>())).top_buffer_rem as *const _ as usize
},
0usize,
concat!(
"Offset of field: ",
stringify!(MotionProfileStatus),
"::",
stringify!(top_buffer_rem)
)
);
assert_eq!(
unsafe {
&(*(::std::ptr::null::<MotionProfileStatus>())).top_buffer_cnt as *const _ as usize
},
4usize,
concat!(
"Offset of field: ",
stringify!(MotionProfileStatus),
"::",
stringify!(top_buffer_cnt)
)
);
assert_eq!(
unsafe {
&(*(::std::ptr::null::<MotionProfileStatus>())).btm_buffer_cnt as *const _ as usize
},
8usize,
concat!(
"Offset of field: ",
stringify!(MotionProfileStatus),
"::",
stringify!(btm_buffer_cnt)
)
);
assert_eq!(
unsafe {
&(*(::std::ptr::null::<MotionProfileStatus>())).has_underrun as *const _ as usize
},
12usize,
concat!(
"Offset of field: ",
stringify!(MotionProfileStatus),
"::",
stringify!(has_underrun)
)
);
assert_eq!(
unsafe { &(*(::std::ptr::null::<MotionProfileStatus>())).is_underrun as *const _ as usize },
13usize,
concat!(
"Offset of field: ",
stringify!(MotionProfileStatus),
"::",
stringify!(is_underrun)
)
);
assert_eq!(
unsafe {
&(*(::std::ptr::null::<MotionProfileStatus>())).active_point_valid as *const _ as usize
},
14usize,
concat!(
"Offset of field: ",
stringify!(MotionProfileStatus),
"::",
stringify!(active_point_valid)
)
);
assert_eq!(
unsafe { &(*(::std::ptr::null::<MotionProfileStatus>())).is_last as *const _ as usize },
15usize,
concat!(
"Offset of field: ",
stringify!(MotionProfileStatus),
"::",
stringify!(is_last)
)
);
assert_eq!(
unsafe {
&(*(::std::ptr::null::<MotionProfileStatus>())).profile_slot_select_0 as *const _
as usize
},
16usize,
concat!(
"Offset of field: ",
stringify!(MotionProfileStatus),
"::",
stringify!(profile_slot_select_0)
)
);
assert_eq!(
unsafe {
&(*(::std::ptr::null::<MotionProfileStatus>())).profile_slot_select_1 as *const _
as usize
},
20usize,
concat!(
"Offset of field: ",
stringify!(MotionProfileStatus),
"::",
stringify!(profile_slot_select_1)
)
);
assert_eq!(
unsafe {
&(*(::std::ptr::null::<MotionProfileStatus>())).output_enable as *const _ as usize
},
24usize,
concat!(
"Offset of field: ",
stringify!(MotionProfileStatus),
"::",
stringify!(output_enable)
)
);
assert_eq!(
unsafe { &(*(::std::ptr::null::<MotionProfileStatus>())).time_dur_ms as *const _ as usize },
28usize,
concat!(
"Offset of field: ",
stringify!(MotionProfileStatus),
"::",
stringify!(time_dur_ms)
)
);
}
extern "C" {
pub fn c_MotController_Create1(baseArbId: c_int) -> Handle;
pub fn c_MotController_GetDeviceNumber(handle: Handle, deviceNumber: *mut c_int) -> ErrorCode;
pub fn c_MotController_GetDescription(
handle: Handle,
toFill: *mut c_char,
toFillByteSz: c_int,
numBytesFilled: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_SetDemand(
handle: Handle,
mode: c_int,
demand0: c_int,
demand1: c_int,
) -> ErrorCode;
pub fn c_MotController_Set_4(
handle: Handle,
mode: c_int,
demand0: f64,
demand1: f64,
demand1Type: c_int,
) -> ErrorCode;
pub fn c_MotController_SetNeutralMode(handle: Handle, neutralMode: c_int);
pub fn c_MotController_SetSensorPhase(handle: Handle, PhaseSensor: bool);
pub fn c_MotController_SetInverted(handle: Handle, invert: bool);
pub fn c_MotController_ConfigOpenLoopRamp(
handle: Handle,
secondsFromNeutralToFull: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigClosedLoopRamp(
handle: Handle,
secondsFromNeutralToFull: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigPeakOutputForward(
handle: Handle,
percentOut: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigPeakOutputReverse(
handle: Handle,
percentOut: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigNominalOutputForward(
handle: Handle,
percentOut: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigNominalOutputReverse(
handle: Handle,
percentOut: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigNeutralDeadband(
handle: Handle,
percentDeadband: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigVoltageCompSaturation(
handle: Handle,
voltage: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigVoltageMeasurementFilter(
handle: Handle,
filterWindowSamples: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_EnableVoltageCompensation(handle: Handle, enable: bool);
pub fn c_MotController_GetBusVoltage(handle: Handle, voltage: *mut f64) -> ErrorCode;
pub fn c_MotController_GetMotorOutputPercent(
handle: Handle,
percentOutput: *mut f64,
) -> ErrorCode;
pub fn c_MotController_GetOutputCurrent(handle: Handle, current: *mut f64) -> ErrorCode;
pub fn c_MotController_GetTemperature(handle: Handle, temperature: *mut f64) -> ErrorCode;
pub fn c_MotController_ConfigSelectedFeedbackSensor(
handle: Handle,
feedbackDevice: c_int,
pidIdx: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigSelectedFeedbackCoefficient(
handle: Handle,
coefficient: f64,
pidIdx: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigRemoteFeedbackFilter(
handle: Handle,
deviceID: c_int,
remoteSensorSource: c_int,
remoteOrdinal: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigSensorTerm(
handle: Handle,
sensorTerm: c_int,
feedbackDevice: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_GetSelectedSensorPosition(
handle: Handle,
param: *mut c_int,
pidIdx: c_int,
) -> ErrorCode;
pub fn c_MotController_GetSelectedSensorVelocity(
handle: Handle,
param: *mut c_int,
pidIdx: c_int,
) -> ErrorCode;
pub fn c_MotController_SetSelectedSensorPosition(
handle: Handle,
sensorPos: c_int,
pidIdx: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_SetControlFramePeriod(
handle: Handle,
frame: c_int,
periodMs: c_int,
) -> ErrorCode;
pub fn c_MotController_SetStatusFramePeriod(
handle: Handle,
frame: c_int,
periodMs: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_GetStatusFramePeriod(
handle: Handle,
frame: c_int,
periodMs: *mut c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigVelocityMeasurementPeriod(
handle: Handle,
period: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigVelocityMeasurementWindow(
handle: Handle,
windowSize: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigForwardLimitSwitchSource(
handle: Handle,
type_: c_int,
normalOpenOrClose: c_int,
deviceID: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigReverseLimitSwitchSource(
handle: Handle,
type_: c_int,
normalOpenOrClose: c_int,
deviceID: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_OverrideLimitSwitchesEnable(handle: Handle, enable: bool);
pub fn c_MotController_ConfigForwardSoftLimitThreshold(
handle: Handle,
forwardSensorLimit: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigReverseSoftLimitThreshold(
handle: Handle,
reverseSensorLimit: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigForwardSoftLimitEnable(
handle: Handle,
enable: bool,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigReverseSoftLimitEnable(
handle: Handle,
enable: bool,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_OverrideSoftLimitsEnable(handle: Handle, enable: bool);
pub fn c_MotController_Config_kP(
handle: Handle,
slotIdx: c_int,
value: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_Config_kI(
handle: Handle,
slotIdx: c_int,
value: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_Config_kD(
handle: Handle,
slotIdx: c_int,
value: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_Config_kF(
handle: Handle,
slotIdx: c_int,
value: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_Config_IntegralZone(
handle: Handle,
slotIdx: c_int,
izone: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigAllowableClosedloopError(
handle: Handle,
slotIdx: c_int,
allowableClosedLoopError: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigMaxIntegralAccumulator(
handle: Handle,
slotIdx: c_int,
iaccum: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigClosedLoopPeakOutput(
handle: Handle,
slotIdx: c_int,
percentOut: f64,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigClosedLoopPeriod(
handle: Handle,
slotIdx: c_int,
loopTimeMs: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_SetIntegralAccumulator(
handle: Handle,
iaccum: f64,
pidIdx: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_GetClosedLoopError(
handle: Handle,
closedLoopError: *mut c_int,
pidIdx: c_int,
) -> ErrorCode;
pub fn c_MotController_GetIntegralAccumulator(
handle: Handle,
iaccum: *mut f64,
pidIdx: c_int,
) -> ErrorCode;
pub fn c_MotController_GetErrorDerivative(
handle: Handle,
derror: *mut f64,
pidIdx: c_int,
) -> ErrorCode;
pub fn c_MotController_SelectProfileSlot(
handle: Handle,
slotIdx: c_int,
pidIdx: c_int,
) -> ErrorCode;
pub fn c_MotController_GetActiveTrajectoryPosition(
handle: Handle,
param: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_GetActiveTrajectoryVelocity(
handle: Handle,
param: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_GetActiveTrajectoryHeading(handle: Handle, param: *mut f64)
-> ErrorCode;
pub fn c_MotController_GetActiveTrajectoryAll(
handle: Handle,
vel: *mut c_int,
pos: *mut c_int,
heading: *mut f64,
) -> ErrorCode;
pub fn c_MotController_ConfigMotionCruiseVelocity(
handle: Handle,
sensorUnitsPer100ms: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigMotionAcceleration(
handle: Handle,
sensorUnitsPer100msPerSec: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ClearMotionProfileTrajectories(handle: Handle) -> ErrorCode;
pub fn c_MotController_GetMotionProfileTopLevelBufferCount(
handle: Handle,
value: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_PushMotionProfileTrajectory(
handle: Handle,
position: f64,
velocity: f64,
headingDeg: f64,
profileSlotSelect: c_int,
isLastPoint: bool,
zeroPos: bool,
) -> ErrorCode;
pub fn c_MotController_PushMotionProfileTrajectory_2(
handle: Handle,
position: f64,
velocity: f64,
headingDeg: f64,
profileSlotSelect0: c_int,
profileSlotSelect1: c_int,
isLastPoint: bool,
zeroPos: bool,
durationMs: c_int,
) -> ErrorCode;
pub fn c_MotController_IsMotionProfileTopLevelBufferFull(
handle: Handle,
value: *mut bool,
) -> ErrorCode;
pub fn c_MotController_ProcessMotionProfileBuffer(handle: Handle) -> ErrorCode;
pub fn c_MotController_GetMotionProfileStatus(
handle: Handle,
topBufferRem: *mut c_int,
topBufferCnt: *mut c_int,
btmBufferCnt: *mut c_int,
hasUnderrun: *mut bool,
isUnderrun: *mut bool,
activePointValid: *mut bool,
isLast: *mut bool,
profileSlotSelect: *mut c_int,
outputEnable: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_GetMotionProfileStatus_2(
handle: Handle,
topBufferRem: *mut c_int,
topBufferCnt: *mut c_int,
btmBufferCnt: *mut c_int,
hasUnderrun: *mut bool,
isUnderrun: *mut bool,
activePointValid: *mut bool,
isLast: *mut bool,
profileSlotSelect: *mut c_int,
outputEnable: *mut c_int,
timeDurMs: *mut c_int,
profileSlotSelect1: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_ClearMotionProfileHasUnderrun(
handle: Handle,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ChangeMotionControlFramePeriod(
handle: Handle,
periodMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigMotionProfileTrajectoryPeriod(
handle: Handle,
durationMs: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_GetLastError(handle: Handle) -> ErrorCode;
pub fn c_MotController_GetFirmwareVersion(handle: Handle, arg1: *mut c_int) -> ErrorCode;
pub fn c_MotController_HasResetOccurred(handle: Handle, arg1: *mut bool) -> ErrorCode;
pub fn c_MotController_ConfigSetCustomParam(
handle: Handle,
newValue: c_int,
paramIndex: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigGetCustomParam(
handle: Handle,
readValue: *mut c_int,
paramIndex: c_int,
timoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigSetParameter(
handle: Handle,
param: c_int,
value: f64,
subValue: c_int,
ordinal: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigGetParameter(
handle: Handle,
param: c_int,
value: *mut f64,
ordinal: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigPeakCurrentLimit(
handle: Handle,
amps: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigPeakCurrentDuration(
handle: Handle,
milliseconds: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_ConfigContinuousCurrentLimit(
handle: Handle,
amps: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_EnableCurrentLimit(handle: Handle, enable: bool) -> ErrorCode;
pub fn c_MotController_SetLastError(handle: Handle, error: c_int) -> ErrorCode;
pub fn c_MotController_GetAnalogIn(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_SetAnalogPosition(
handle: Handle,
newPosition: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_GetAnalogInRaw(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_GetAnalogInVel(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_GetQuadraturePosition(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_SetQuadraturePosition(
handle: Handle,
newPosition: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_GetQuadratureVelocity(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_GetPulseWidthPosition(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_SetPulseWidthPosition(
handle: Handle,
newPosition: c_int,
timeoutMs: c_int,
) -> ErrorCode;
pub fn c_MotController_GetPulseWidthVelocity(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_GetPulseWidthRiseToFallUs(
handle: Handle,
param: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_GetPulseWidthRiseToRiseUs(
handle: Handle,
param: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_GetPinStateQuadA(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_GetPinStateQuadB(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_GetPinStateQuadIdx(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_IsFwdLimitSwitchClosed(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_IsRevLimitSwitchClosed(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_GetFaults(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_GetStickyFaults(handle: Handle, param: *mut c_int) -> ErrorCode;
pub fn c_MotController_ClearStickyFaults(handle: Handle, timeoutMs: c_int) -> ErrorCode;
pub fn c_MotController_SelectDemandType(handle: Handle, enable: bool) -> ErrorCode;
pub fn c_MotController_SetMPEOutput(handle: Handle, MpeOutput: c_int) -> ErrorCode;
pub fn c_MotController_EnableHeadingHold(handle: Handle, enable: bool) -> ErrorCode;
pub fn c_MotController_GetAnalogInAll(
handle: Handle,
withOv: *mut c_int,
raw: *mut c_int,
vel: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_GetQuadratureSensor(
handle: Handle,
pos: *mut c_int,
vel: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_GetPulseWidthAll(
handle: Handle,
pos: *mut c_int,
vel: *mut c_int,
riseToRiseUs: *mut c_int,
riseToFallUs: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_GetQuadPinStates(
handle: Handle,
quadA: *mut c_int,
quadB: *mut c_int,
quadIdx: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_GetLimitSwitchState(
handle: Handle,
isFwdClosed: *mut c_int,
isRevClosed: *mut c_int,
) -> ErrorCode;
pub fn c_MotController_GetClosedLoopTarget(
handle: Handle,
value: *mut c_int,
pidIdx: c_int,
) -> ErrorCode;
}