Merge pull request #90 from robotpy/add-apis

Add various new APIs

gen/CANifier_data.yml

@@ -209,6 +209,42 @@ c_CANifier_ConfigVelocityMeasurementWindow:
                        config success and report an error if it times out.
                        If zero, no blockinxxg xxor checking is performed.
     
+    :returns: Error Code generated by function. 0 indicates no error.
+c_CANifier_ConfigClearPositionOnLimitF:
+  doc: |
+    Enables clearing the position of the feedback sensor when the forward
+    limit switch is triggered
+    
+    :param clearPositionOnLimitF: Whether clearing is enabled, defaults false
+    
+    :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 generated by function. 0 indicates no error.
+c_CANifier_ConfigClearPositionOnLimitR:
+  doc: |
+    Enables clearing the position of the feedback sensor when the reverse
+    limit switch is triggered
+    
+    :param clearPositionOnLimitR: Whether clearing is enabled, defaults false
+    
+    :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 generated by function. 0 indicates no error.
+c_CANifier_ConfigClearPositionOnQuadIdx:
+  doc: |
+    Enables clearing the position of the feedback sensor when the quadrature index signal
+    is detected
+    
+    :param clearPositionOnQuadIdx: Whether clearing is enabled, defaults false
+    
+    :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 generated by function. 0 indicates no error.
 c_CANifier_SetLastError:
   code: |

gen/MotController_data.yml

@@ -77,13 +77,16 @@ c_MotController_Create1:
       'pulse_width_velocity': 0,
       'pulse_width_rise_to_rise': 0,
       'pulse_width_rise_to_fall': 0,
+      'pulse_width_period_edges_per_rot': 0,
+      'pulse_width_period_filter_window_sz': 0,
       
       # Soft limits
       'soft_limit_usable': True,
       'soft_limit_for': 0,
       'soft_limit_for_enable': False,
       'soft_limit_rev': 0,
       'soft_limit_rev_enable': False,
+      'soft_limit_disable_neutral_on_los': False,
       
       # Hard limits
       'limit_switch_usable': True,
@@ -95,6 +98,7 @@ c_MotController_Create1:
       'limit_switch_source_rev': LimitSwitchSource.Deactivated,
       'limit_switch_follow_for': deviceId,
       'limit_switch_follow_rev': deviceId,
+      'limit_switch_disable_neutral_on_los': False,
 
       'clear_pos_on_limit_fwd': 0,
       'clear_pos_on_limit_rev': 0,
@@ -1034,6 +1038,16 @@ c_MotController_PushMotionProfileTrajectory_2:
   internal: true
 c_MotController_StartMotionProfile:
   ignore: true # TODO
+c_MotController_IsMotionProfileFinished:
+  doc: |
+    Determine if running MP is complete.
+    This requires using the StartMotionProfile routine to start the MP.
+    That is because managing the trajectory points is now done in a background thread (if StartMotionProfile is called).
+    
+    If calling application uses the legacy API  (more-complex buffering API) from previous years, than this API will
+    not return true.
+    
+    :returns: true if MP was started using StartMotionProfile, and it has completed execution (MPE is now in "hold").
 c_MotController_IsMotionProfileTopLevelBufferFull:
   doc: |
     Retrieve just the buffer full for the api-level (top) buffer. This
@@ -1134,6 +1148,137 @@ c_MotController_ConfigMotionProfileTrajectoryPeriod:
         config success and report an error if it times out.
         If zero, no blocking or checking is performed.
     :returns: Error Code generated by function. 0 indicates no error.
+c_MotController_ConfigMotionProfileTrajectoryInterpolationEnable:
+  doc: |
+    When trajectory points are processed in the buffer, the motor controller can
+    linearly interpolate additional trajectory points between the buffered
+    points.  The time delta between these interpolated points is 1 ms.
+    
+    By default this feature is enabled.
+    
+    :param enable:    Whether to enable the trajectory point interpolation feature.
+    
+    :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 generated by function. 0 indicates no error.
+c_MotController_ConfigFeedbackNotContinuous:
+  doc: |
+    Disables continuous tracking of the position for analog and pulse-width.
+    If the signal goes from 4095 to 0 (pulse-width) a motor controller will continue to read 4096 by default.
+    If overflow tracking is disabled, it will wrap to 0 (not continuous)
+    
+    If using pulse-width on CTRE Mag Encoder (within one rotation) or absolute analog sensor (within one rotation),
+    setting feedbackNotContinuous to true is recommended, to prevent intermittent
+    connections from causing sensor "jumps" of 4096 (or 1024 for analog) units.
+    
+    :param feedbackNotContinuous: True to disable the overflow tracking.
+    
+    :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 generated by function. 0 indicates no error.
+c_MotController_ConfigRemoteSensorClosedLoopDisableNeutralOnLOS:
+  doc: |
+    Disables going to neutral (brake/coast) when a remote sensor is no longer detected.
+    
+    :param remoteSensorClosedLoopDisableNeutralOnLOS: disable going to neutral
+    
+    :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 generated by function. 0 indicates no error.
+c_MotController_ConfigClearPositionOnLimitF:
+  set: clear_pos_on_limit_fwd
+  doc: |
+    Enables clearing the position of the feedback sensor when the forward
+    limit switch is triggered.
+    
+    :param clearPositionOnLimitF: Whether clearing is enabled, defaults false
+    
+    :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 generated by function. 0 indicates no error.
+c_MotController_ConfigClearPositionOnLimitR:
+  set: clear_pos_on_limit_rev
+  doc: |
+    Enables clearing the position of the feedback sensor when the reverse
+    limit switch is triggered
+    
+    :param clearPositionOnLimitR: Whether clearing is enabled, defaults false
+    
+    :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 generated by function. 0 indicates no error.
+c_MotController_ConfigClearPositionOnQuadIdx:
+  doc: |
+    Enables clearing the position of the feedback sensor when the quadrature index signal
+    is detected
+    
+    :param clearPositionOnQuadIdx: Whether clearing is enabled, defaults false
+    
+    :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 generated by function. 0 indicates no error.
+c_MotController_ConfigLimitSwitchDisableNeutralOnLOS:
+  set: limit_switch_disable_neutral_on_los
+  doc: |
+    Disables limit switches triggering (if enabled) when the sensor is no longer detected.
+    
+    :param limitSwitchDisableNeutralOnLOS: disable triggering
+    
+    :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 generated by function. 0 indicates no error.
+c_MotController_ConfigSoftLimitDisableNeutralOnLOS:
+  set: soft_limit_disable_neutral_on_los
+  doc: |
+    Disables soft limits triggering (if enabled) when the sensor is no longer detected.
+    
+    :param softLimitDisableNeutralOnLOS: disable triggering
+    
+    :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 generated by function. 0 indicates no error.
+c_MotController_ConfigPulseWidthPeriod_EdgesPerRot:
+  set: pulse_width_period_edges_per_rot
+  doc: |
+    Sets the edges per rotation of a pulse width sensor. (This should be set for
+    tachometer use).
+    
+    :param pulseWidthPeriod_EdgesPerRot: edges per rotation
+    
+    :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 generated by function. 0 indicates no error.
+c_MotController_ConfigPulseWidthPeriod_FilterWindowSz:
+  set: pulse_width_period_filter_window_sz
+  doc: |
+    Sets the number of samples to use in smoothing a pulse width sensor with a rolling
+    average. Default is 1 (no smoothing).
+    
+    :param pulseWidthPeriod_FilterWindowSz: samples for rolling avg
+    
+    :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 generated by function. 0 indicates no error.
 c_MotController_GetLastError:
   get: last_error
   doc: |