Merge pull request #55 from robotpy/update-5.3.1.0

Upgrade to Phoenix 5.3.1.0

.gittrack

@@ -1,5 +1,5 @@
 [git-source-track]
 validation_root = ctre
 upstream_root = ../Phoenix-frc-lib/
-upstream_commit = 9704468db863a6e12d38feb60ba01f0cb050de49
+upstream_commit = 666d176a08151793044ab74e0005f13d3732ed96
 

ctre/_impl/__init__.py

@@ -12,49 +12,35 @@
     from .autogen.canifier_sim import CANifier
     from .autogen.motcontroller_sim import MotController
     from .autogen.pigeonimu_sim import PigeonIMU
-    from .autogen.ctre_sim_enums import (
-        ControlMode,
-        ErrorCode,
-        NeutralMode,
-        RemoteFeedbackDevice,
-        FeedbackDevice,
-        StatusFrame,
-        StatusFrameEnhanced,
-        VelocityMeasPeriod,
-        RemoteLimitSwitchSource,
-        LimitSwitchNormal,
-        LimitSwitchSource,
-        ParamEnum,
-        CANifierStatusFrame,
-        CANifierControlFrame,
-        GeneralPin,
-        PigeonIMU_StatusFrame,
-        PigeonIMU_ControlFrame,
-        TrajectoryDuration,
-    )
+    from .autogen import ctre_sim_enums as _enum_module
 else:
     from .ctre_roborio import (
         CANifier,
         MotController,
         PigeonIMU
     )
-    from .ctre_roborio import (
-        ControlMode,
-        ErrorCode,
-        NeutralMode,
-        RemoteFeedbackDevice,
-        FeedbackDevice,
-        StatusFrame,
-        StatusFrameEnhanced,
-        VelocityMeasPeriod,
-        RemoteLimitSwitchSource,
-        LimitSwitchNormal,
-        LimitSwitchSource,
-        ParamEnum,
-        CANifierStatusFrame,
-        CANifierControlFrame,
-        GeneralPin,
-        PigeonIMU_StatusFrame,
-        PigeonIMU_ControlFrame,
-        TrajectoryDuration,
-    )
+    from . import ctre_roborio as _enum_module
+
+# enums
+ControlMode = _enum_module.ControlMode
+DemandType = _enum_module.DemandType
+ErrorCode = _enum_module.ErrorCode
+NeutralMode = _enum_module.NeutralMode
+RemoteFeedbackDevice = _enum_module.RemoteFeedbackDevice
+FeedbackDevice = _enum_module.FeedbackDevice
+FollowerType = _enum_module.FollowerType
+StatusFrame = _enum_module.StatusFrame
+StatusFrameEnhanced = _enum_module.StatusFrameEnhanced
+VelocityMeasPeriod = _enum_module.VelocityMeasPeriod
+RemoteLimitSwitchSource = _enum_module.RemoteLimitSwitchSource
+LimitSwitchNormal = _enum_module.LimitSwitchNormal
+LimitSwitchSource = _enum_module.LimitSwitchSource
+ParamEnum = _enum_module.ParamEnum
+CANifierStatusFrame = _enum_module.CANifierStatusFrame
+CANifierControlFrame = _enum_module.CANifierControlFrame
+GeneralPin = _enum_module.GeneralPin
+PigeonIMU_StatusFrame = _enum_module.PigeonIMU_StatusFrame
+PigeonIMU_ControlFrame = _enum_module.PigeonIMU_ControlFrame
+TrajectoryDuration = _enum_module.TrajectoryDuration
+
+del _enum_module

ctre/_impl/ctre_roborio.cpp

@@ -23,7 +23,9 @@ typedef py::call_guard<py::gil_scoped_release> release_gil;
 
 #include "ctre/phoenix/MotorControl/ControlFrame.h"
 #include "ctre/phoenix/MotorControl/ControlMode.h"
+#include "ctre/phoenix/MotorControl/DemandType.h"
 #include "ctre/phoenix/MotorControl/FeedbackDevice.h"
+#include "ctre/phoenix/MotorControl/FollowerType.h"
 #include "ctre/phoenix/MotorControl/LimitSwitchType.h"
 #include "ctre/phoenix/MotorControl/NeutralMode.h"
 #include "ctre/phoenix/MotorControl/RemoteSensorSource.h"

ctre/basemotorcontroller.py

@@ -1,4 +1,4 @@
-# validated: 2018-01-14 DV f0e94123427a java/src/com/ctre/phoenix/motorcontrol/can/BaseMotorController.java
+# validated: 2018-03-01 DS e8221da18ba9 java/src/com/ctre/phoenix/motorcontrol/can/BaseMotorController.java
 #----------------------------------------------------------------------------
 #  Software License Agreement
 #
@@ -27,6 +27,9 @@
 from ._impl import (
     MotController,
     ControlMode,
+    ErrorCode,
+    DemandType,
+    FollowerType,
     NeutralMode,
     VelocityMeasPeriod,
     LimitSwitchNormal,
@@ -44,6 +47,7 @@ class BaseMotorController(MotController):
     """Base motor controller features for all CTRE CAN motor controllers."""
 
     ControlMode = ControlMode
+    DemandType = DemandType
     LimitSwitchNormal = LimitSwitchNormal
     NeutralMode = NeutralMode
     ParamEnum = ParamEnum
@@ -71,15 +75,17 @@ def getDeviceID(self):
         :returns: Device number.
         """
         return self.getDeviceNumber()
+
+    __set4_modes = {ControlMode.Velocity, ControlMode.Position, ControlMode.MotionMagic, ControlMode.MotionProfile, ControlMode.MotionProfileArc}
 
-    def set(self, mode: ControlMode, demand0: float, demand1: float = 0.0):
+    def set(self, mode: ControlMode, demand0: float, demand1Type: DemandType = DemandType.Neutral, demand1: float = 0.0):
         """
         Sets the appropriate output on the talon, depending on the mode.
 
         :param mode:
             The output mode to apply.
         :param demand0:
-            The output value to apply. such as advanced feed forward and/or cascaded close-looping in firmware.
+            The output value to apply. such as advanced feed forward and/or auxiliary close-looping in firmware.
 
             In :attr:`.ControlMode.PercentOutput`, the output is between -1.0 and 1.0, with 0.0 as
             stopped.
@@ -93,18 +99,40 @@ def set(self, mode: ControlMode, demand0: float, demand1: float = 0.0):
             In :attr:`.ControlMode.Position` mode, output value is in encoder ticks or an analog value, depending on the sensor.
             
             In :attr:`.ControlMode.Follower` mode, the output value is the integer device ID of the talon to duplicate.
-        :type demand0: float
+        :param demand1Type:
+            The demand type for demand1.
+            
+            * Neutral: Ignore demand1 and apply no change to the demand0 output.
+            * AuxPID: Use demand1 to set the target for the auxiliary PID 1.
+            * ArbitraryFeedForward: Use demand1 as an arbitrary additive value to the
+              demand0 output.  In PercentOutput the demand0 output is the motor output,
+              and in closed-loop modes the demand0 output is the output of PID0.
         :param demand1:
             Supplemental value.  This will also be control mode specific for future features.
-        :type demand1: float
-
-        see :meth:`.selectProfileSlot` to choose between the two sets of gains.
+    
+        Arcade Drive Example::
+        
+            _talonLeft.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, +joyTurn)
+            _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.ArbitraryFeedForward, -joyTurn)
+                    
+        Drive Straight Example::
+                            
+            # Note: Selected Sensor Configuration is necessary for both PID0 and PID1.
+            _talonLeft.follow(_talonRght, FollowerType.AuxOutput1)
+            _talonRght.set(ControlMode.PercentOutput, joyForward, DemandType.AuxPID, desiredRobotHeading)
+                            
+        Drive Straight to a Distance Example::
+        
+            # Note: Other configurations (sensor selection, PID gains, etc.) need to be set.
+            _talonLeft.follow(_talonRght, FollowerType.AuxOutput1);
+            _talonRght.set(ControlMode.MotionMagic, targetDistance, DemandType.AuxPID, desiredRobotHeading)
+        
         """
         self.controlMode = mode
         self.sendMode = mode
 
         if self.controlMode == ControlMode.PercentOutput:
-            self.setDemand(self.sendMode, int(1023 * demand0), 0)
+            self._set_4(self.sendMode, demand0, demand1, demand1Type)
         elif self.controlMode == ControlMode.Follower:
             # did caller specify device ID
             if 0 <= demand0 <= 62:
@@ -114,9 +142,9 @@ def set(self, mode: ControlMode, demand0: float, demand1: float = 0.0):
                 work |= int(demand0) & 0xFF
             else:
                 work = int(demand0)
-            self.setDemand(self.sendMode, work, 0)
-        elif self.controlMode in [ControlMode.Velocity, ControlMode.Position, ControlMode.MotionMagic, ControlMode.MotionMagicArc, ControlMode.MotionProfile]:
-            self.setDemand(self.sendMode, int(demand0), 0)
+            self._set_4(self.sendMode, work, demand1, demand1Type)
+        elif self.controlMode in self.__set4_modes:
+            self._set_4(self.sendMode, demand0, demand1, demand1Type)
         elif self.controlMode == ControlMode.Current:
             self.setDemand(self.sendMode, int(1000. * demand0), 0) # milliamps
         else:
@@ -173,9 +201,13 @@ def pushMotionProfileTrajectory(self, trajPt: TrajectoryPoint):
 
             position:  servo position in sensor units.
             velocity:  velocity to feed-forward in sensor units per 100ms.
-            profileSlotSelect:  which slot to pull PIDF gains from.  Currently
-            supports 0,1,2,3.
-
+            profileSlotSelect0:  Which slot to get PIDF gains. PID is used for position servo. F is used
+                as the Kv constant for velocity feed-forward. Typically this is hardcoded
+                to the a particular slot, but you are free gain schedule if need be.
+                Choose from [0,3]
+            profileSlotSelect1: Which slot to get PIDF gains for auxiliary PId.
+                This only has impact during MotionProfileArc Control mode.
+                Choose from [0,1].
             isLastPoint:  set to nonzero to signal motor controller to keep processing this
                 trajectory point, instead of jumping to the next one
                 when timeDurMs expires.  Otherwise MP executer will
@@ -188,11 +220,15 @@ def pushMotionProfileTrajectory(self, trajPt: TrajectoryPoint):
                 Typically the first point should have this set only thus
                 allowing the remainder of the MP positions to be relative to
                 zero.
+            timeDur: Duration to apply this trajectory pt.
+                This time unit is ADDED to the exising base time set by
+                configMotionProfileTrajectoryPeriod().
+        
         :returns: CTR_OKAY if trajectory point push ok. ErrorCode if buffer is
             full due to kMotionProfileTopBufferCapacity.
         """
         return super()._pushMotionProfileTrajectory_2(
-                trajPt.position, trajPt.velocity, trajPt.headingDeg,
+                trajPt.position, trajPt.velocity, trajPt.auxiliaryPos,
                 trajPt.profileSlotSelect0, trajPt.profileSlotSelect1,
                 trajPt.isLastPoint, trajPt.zeroPos, trajPt.timeDur
         )
@@ -219,7 +255,7 @@ def getStickyFaults(self) -> typing.Tuple[int, StickyFaults]:
     def getBaseID(self) -> int:
         return self.arbId
 
-    def follow(self, masterToFollow: 'BaseMotorController'):
+    def follow(self, masterToFollow: 'BaseMotorController', followerType: FollowerType = FollowerType.PercentOutput):
         """
         Set the control mode and output value so that this motor controller will
         follow another motor controller. Currently supports following Victor SPX
@@ -231,7 +267,15 @@ def follow(self, masterToFollow: 'BaseMotorController'):
         id24 = id24 & 0xFFFF
         id24 <<= 8
         id24 |= (id32 & 0xFF)
-        self.set(ControlMode.Follower, id24)
+
+        if followerType == FollowerType.PercentOutput:
+            self.set(ControlMode.Follower, id24)
+        elif followerType == FollowerType.AuxOutput1:
+            # follow the motor controller, but set the aux flag
+            # to ensure we follow the processed output
+            self.set(ControlMode.Follower, id24, DemandType.AuxPID, 0)
+        else:
+            self.neutralOutput()
 
     def valueUpdated(self):
         """
@@ -247,3 +291,26 @@ def getControlMode(self) -> ControlMode:
         """
         :returns: control mode motor controller is in"""
         return self.controlMode
+
+    def configAuxPIDPolarity(self, invert: bool, timeoutMs: int) -> ErrorCode:
+        """Configures the Polarity of the Auxiliary PID (PID1).
+        
+        Standard Polarity:
+        
+        * Primary Output = PID0 + PID1
+        * Auxiliary Output = PID0 - PID1
+        
+        Inverted Polarity:
+        
+        * Primary Output = PID0 - PID1
+        * Auxiliary Output = PID0 + PID1
+        
+        :param invert:    If true, use inverted PID1 output polarity.
+        
+        :param timeoutMs: Timeout value in ms. If nonzero, function will wait for config
+                          success and report an error if it times out. If zero, no
+                          blocking or checking is performed.
+        
+        :returns: Error Code
+        """
+        return self.configSetParameter(ParamEnum.ePIDLoopPolarity, 1 if invert else 0, 0, 1, timeoutMs)

ctre/canifier.py

@@ -1,4 +1,4 @@
-# validated: 2018-01-05 EN 8f8595a20145 java/src/com/ctre/phoenix/CANifier.java
+# validated: 2018-03-01 DS a3eae14b229d java/src/com/ctre/phoenix/CANifier.java
 #----------------------------------------------------------------------------
 #  Software License Agreement
 #
@@ -91,6 +91,7 @@ def __init__(self, deviceId: int):
         """
         super().__init__()
         self._create1(deviceId)
+        self._deviceNumber = deviceId
         # python-specific: tempPins not needed
         hal.report(hal.UsageReporting.kResourceType_CANifier, deviceId + 1)
 
@@ -178,3 +179,7 @@ def getStickyFaults(self, toFill: CANifierStickyFaults):
         _, bits = super().getStickyFaults()
         toFill.update(bits)
         return self.getLastError()
+
+    def getDeviceID(self):
+        """:returns: The Device Number"""
+        return self._deviceNumber

ctre/pigeonimu.py

@@ -1,4 +1,4 @@
-# validated: 2018-01-14 DV 2a1c9b5fb45b java/src/com/ctre/phoenix/sensors/PigeonIMU.java
+# validated: 2018-03-01 DS a3eae14b229d java/src/com/ctre/phoenix/sensors/PigeonIMU.java
 #----------------------------------------------------------------------------
 #  Software License Agreement
 #
@@ -209,7 +209,7 @@ def __init__(self, *args, **kwargs):
         deviceNumber_arg = ("deviceNumber", [int])
         talonSrx_arg = ("talonSrx", [TalonSRX])
         templates = [[deviceNumber_arg], [talonSrx_arg]]
-        index, results = match_arglist('PIDController.__init__',
+        index, results = match_arglist('PigeonIMU.__init__',
                                    args, kwargs, templates)
         self.generalStatus = [0] * 10
         self.fusionStatus = [0] * 10
@@ -262,3 +262,7 @@ def getStickyFaults(self) -> typing.Tuple[int, PigeonIMU_StickyFaults]:
         """
         _, bits = super().getStickyFaults()
         return self.getLastError(), PigeonIMU_StickyFaults(bits)
+
+    def getDeviceID(self):
+        """:returns: The Device Number"""
+        return self._deviceNumber

ctre/trajectorypoint.py

@@ -1,4 +1,4 @@
-# validated: 2018-01-14 DV 76dd48fe2e6a libraries/driver/include/ctre/phoenix/Motion/TrajectoryPoint.h
+# validated: 2018-03-01 DS b3d643236ddc libraries/driver/include/ctre/phoenix/Motion/TrajectoryPoint.h
 from collections import namedtuple
 
 from ._impl import TrajectoryDuration
@@ -8,12 +8,12 @@
 
 #: Motion Profile Trajectory Point.
 #: This is simply a data transfer object.
-TrajectoryPoint = namedtuple("TrajectoryPoint", ["position", "velocity", "headingDeg", "profileSlotSelect0",
+TrajectoryPoint = namedtuple("TrajectoryPoint", ["position", "velocity", "auxiliaryPos", "profileSlotSelect0",
                                                  "profileSlotSelect1", "isLastPoint", "zeroPos", "timeDur"])
 TrajectoryPoint.TrajectoryDuration = TrajectoryDuration
 TrajectoryPoint.position.__doc__ = "The position to servo to."
 TrajectoryPoint.velocity.__doc__ = "The velocity to feed-forward."
-#TrajectoryPoint.headingDeg.__doc__ = ""
+TrajectoryPoint.auxiliaryPos.__doc__ = "The position for auxiliary PID to target."
 TrajectoryPoint.profileSlotSelect0.__doc__ = """
      Which slot to get PIDF gains.
      PID is used for position servo.
@@ -23,7 +23,7 @@
      Choose from [0,3]
 """
 TrajectoryPoint.profileSlotSelect1.__doc__ = """
-    Which slot to get PIDF gains for cascaded PID.
+    Which slot to get PIDF gains for auxiliary PID.
     This only has impact during MotionProfileArc Control mode.
     Choose from [0,1]
 """

ctre/wpi_talonsrx.py

@@ -104,7 +104,7 @@ def set(self, *args, **kwargs):
 
         self.speed = 0.0
         if index == 2:
-            super().set(results['mode'], results['demand0'], results['demand1'])
+            super().set(results['mode'], results['demand0'], demand1=results['demand1'])
         else:
             if index == 0:
                 self.speed = value = results['speed']