Merge pull request #46 from auscompgeek/fix-limit-switch-sim

Fix limit switch sim for Talon SRX data port

gen/MotController_data.yml

@@ -91,8 +91,8 @@ c_MotController_Create1:
       'limit_switch_closed_rev': False,
       
       # Remote limit switches?
-      'limit_switch_remote_for': LimitSwitchSource.Deactivated,
-      'limit_switch_remote_rev': LimitSwitchSource.Deactivated,
+      'limit_switch_source_for': LimitSwitchSource.Deactivated,
+      'limit_switch_source_rev': LimitSwitchSource.Deactivated,
       'limit_switch_follow_for': deviceId,
       'limit_switch_follow_rev': deviceId,
       
@@ -576,19 +576,21 @@ c_MotController_ConfigVelocityMeasurementWindow:
     :returns: Error Code generated by function. 0 indicates no error.
 c_MotController_ConfigForwardLimitSwitchSource:
   code: |
-    self.hal_data['limit_switch_remote_for'] = type
+    self.hal_data['limit_switch_source_for'] = type
     self.hal_data['limit_switch_follow_for'] = deviceID
   doc: |
-    Configures the forward limit switch for a remote source. For example, a
-    CAN motor controller may need to monitor the Limit-F pin of another Talon
-    or CANifier.
+    Configures the forward limit switch for a local/remote source. For example,
+    a CAN motor controller may need to monitor the Limit-F pin of another Talon,
+    CANifier, or local Gadgeteer feedback connector.
 
     :param type:
-        Remote limit switch source. User can choose between a remote
-        Talon SRX, CANifier, or deactivate the feature.
+        Limit switch source. User can choose between the feedback connector,
+        a remote Talon SRX, CANifier, or deactivate the feature.
+    :type type: :class:`LimitSwitchSource`
     :param normalOpenOrClose:
         Setting for normally open, normally closed, or disabled. This
         setting matches the web-based configuration drop down.
+    :type normalOpenOrClose: :class:`LimitSwitchNormal`
     :param deviceID:
         Device ID of remote source (Talon SRX or CANifier device ID).
     :param timeoutMs:
@@ -598,19 +600,21 @@ c_MotController_ConfigForwardLimitSwitchSource:
     :returns: Error Code generated by function. 0 indicates no error.
 c_MotController_ConfigReverseLimitSwitchSource:
   code: |
-    self.hal_data['limit_switch_remote_rev'] = type
+    self.hal_data['limit_switch_source_rev'] = type
     self.hal_data['limit_switch_follow_rev'] = deviceID
   doc: |
-    Configures the reverse limit switch for a remote source. For example, a
-    CAN motor controller may need to monitor the Limit-R pin of another Talon
-    or CANifier.
+    Configures the reverse limit switch for a local/remote source. For example,
+    a CAN motor controller may need to monitor the Limit-R pin of another Talon,
+    CANifier, or local Gadgeteer feedback connector.
 
     :param type:
-        Remote limit switch source. User can choose between a remote
-        Talon SRX, CANifier, or deactivate the feature.
+        Limit switch source. User can choose between the feedback connector,
+        a remote Talon SRX, CANifier, or deactivate the feature.
+    :type type: :class:`LimitSwitchSource`
     :param normalOpenOrClose:
         Setting for normally open, normally closed, or disabled. This
         setting matches the web-based configuration drop down.
+    :type normalOpenOrClose: :class:`LimitSwitchNormal`
     :param deviceID:
         Device ID of remote source (Talon SRX or CANifier device ID).
     :param timeoutMs:
@@ -1349,13 +1353,13 @@ c_MotController_GetPinStateQuadIdx:
 c_MotController_IsFwdLimitSwitchClosed:
   code: |
     data = self.hal_data
-    if self.hal_data['limit_switch_remote_for'] != LimitSwitchSource.Deactivated:
+    if self.hal_data['limit_switch_source_for'] not in (LimitSwitchSource.Deactivated, LimitSwitchSource.FeedbackConnector):
         data = hal_data['CAN'][self.hal_data['limit_switch_follow_for']]
     retval = 1 if data['limit_switch_closed_for'] else 0
 c_MotController_IsRevLimitSwitchClosed:
   code: |
     data = self.hal_data
-    if self.hal_data['limit_switch_remote_rev'] != LimitSwitchSource.Deactivated:
+    if self.hal_data['limit_switch_source_rev'] not in (LimitSwitchSource.Deactivated, LimitSwitchSource.FeedbackConnector):
         data = hal_data['CAN'][self.hal_data['limit_switch_follow_rev']]
     retval = 1 if data['limit_switch_closed_rev'] else 0
 c_MotController_GetFaults:
@@ -1414,9 +1418,9 @@ c_MotController_GetQuadPinStates:
 c_MotController_GetLimitSwitchState:
   code: |
     fwd_data = rev_data = self.hal_data
-    if self.hal_data['limit_switch_remote_for'] != LimitSwitchSource.Deactivated:
+    if self.hal_data['limit_switch_source_for'] not in (LimitSwitchSource.Deactivated, LimitSwitchSource.FeedbackConnector):
         fwd_data = hal_data['CAN'][self.hal_data['limit_switch_follow_for']]
-    if self.hal_data['limit_switch_remote_rev'] != LimitSwitchSource.Deactivated:
+    if self.hal_data['limit_switch_source_rev'] not in (LimitSwitchSource.Deactivated, LimitSwitchSource.FeedbackConnector):
         rev_data = hal_data['CAN'][self.hal_data['limit_switch_follow_rev']]
     retval = fwd_data['limit_switch_closed_for'], rev_data['limit_switch_closed_rev']
   doc: |