Merge pull request #89 from robotpy/inverted

Add new setInverted API

ctre/_impl/__init__.py

@@ -28,6 +28,7 @@
 RemoteSensorSource = _enum_module.RemoteSensorSource
 FeedbackDevice = _enum_module.FeedbackDevice
 FollowerType = _enum_module.FollowerType
+InvertType = _enum_module.InvertType
 StatusFrame = _enum_module.StatusFrame
 StatusFrameEnhanced = _enum_module.StatusFrameEnhanced
 VelocityMeasPeriod = _enum_module.VelocityMeasPeriod

ctre/_impl/ctre_roborio.cpp

@@ -26,6 +26,7 @@ typedef py::call_guard<py::gil_scoped_release> release_gil;
 #include "ctre/phoenix/motorcontrol/DemandType.h"
 #include "ctre/phoenix/motorcontrol/FeedbackDevice.h"
 #include "ctre/phoenix/motorcontrol/FollowerType.h"
+#include "ctre/phoenix/motorcontrol/InvertType.h"
 #include "ctre/phoenix/motorcontrol/LimitSwitchType.h"
 #include "ctre/phoenix/motorcontrol/NeutralMode.h"
 #include "ctre/phoenix/motorcontrol/RemoteSensorSource.h"

ctre/basemotorcontroller.py

@@ -22,6 +22,8 @@
 #  (INCLUDING NEGLIGENCE), BREACH OF WARRANTY, OR OTHERWISE
 # ----------------------------------------------------------------------------
 
+import typing
+
 from .sensorcollection import SensorCollection
 from .trajectorypoint import TrajectoryPoint
 from ._impl import (
@@ -30,6 +32,7 @@
     ErrorCode,
     Faults,
     FollowerType,
+    InvertType,
     LimitSwitchNormal,
     MotController,
     MotionProfileStatus,
@@ -52,6 +55,7 @@ class BaseMotorController(MotController):
 
     ControlMode = ControlMode
     DemandType = DemandType
+    InvertType = InvertType
     LimitSwitchNormal = LimitSwitchNormal
     NeutralMode = NeutralMode
     ParamEnum = ParamEnum
@@ -174,7 +178,7 @@ def neutralOutput(self):
         """Neutral the motor output by setting control mode to disabled."""
         self.set(ControlMode.Disabled, 0, 0)
 
-    def setInverted(self, invert: bool):
+    def setInverted(self, invert: typing.Union[bool, InvertType]):
         """
         Inverts the hbridge output of the motor controller.
 
@@ -190,12 +194,14 @@ def setInverted(self, invert: bool):
         :param invert:
             Invert state to set.
         """
-        self.invert = invert
-        super().setInverted(invert)
+        self.invert = int(invert)
+        super()._setInverted_2(self.invert)
 
     def getInverted(self) -> bool:
         """:returns: invert setting of motor output"""
-        return self.invert
+        if self.invert in (0, 1):
+            return bool(self.invert)
+        return super().getInverted()
 
     def getMotorOutputVoltage(self) -> float:
         """:returns: applied voltage to motor in volts"""

gen/MotController_data.yml

@@ -246,7 +246,14 @@ c_MotController_SetSensorPhase:
     :param PhaseSensor:
         Indicates whether to invert the phase of the sensor.
 c_MotController_SetInverted:
-  set: inverted
+  ignore: true
+c_MotController_SetInverted_2:
+  internal: true
+  code: |
+    if invertType in (0, 1):
+        invertType = bool(invertType)
+    
+    self.hal_data['inverted'] = invertType
 c_MotController_ConfigOpenLoopRamp:
   set: open_loop_ramp
   doc: |
@@ -381,6 +388,24 @@ c_MotController_EnableVoltageCompensation:
     
     :param enable:
         Enable state of voltage compensation.
+c_MotController_GetInverted:
+  code: |
+    invert_state = self.hal_data['inverted']
+    if isinstance(invert_state, bool):
+        retval = invert_state
+    else:
+        follow_target = self.hal_data['follow_target']
+        target_state = hal_data['CAN'][follow_target]['inverted']
+        if not isinstance(target_state, bool):
+            raise ValueError("Cannot follow a target that is following")
+        if invert_state == 2:
+            retval = target_state
+        elif invert_state == 3:
+            retval = not target_state
+        else:
+            raise ValueError("Invalid invert_state %s" % invert_state)
+  doc: |
+    :returns: invert setting of motor output.
 c_MotController_GetBusVoltage:
   get: bus_voltage
   doc: |

gen/gen.yml

@@ -35,6 +35,7 @@
   - ctre/phoenix/motorcontrol/DemandType.h
   - ctre/phoenix/motorcontrol/FeedbackDevice.h
   - ctre/phoenix/motorcontrol/FollowerType.h
+  - ctre/phoenix/motorcontrol/InvertType.h
   - ctre/phoenix/motorcontrol/LimitSwitchType.h
   - ctre/phoenix/motorcontrol/NeutralMode.h
   - ctre/phoenix/motorcontrol/RemoteSensorSource.h

tests/test_talonsrx.py

@@ -80,9 +80,22 @@ def test_talon_stopMotor(talon, cdata):
 
 
 def test_talon_setinverted(talon, cdata):
-    assert cdata["inverted"] == False
+    assert cdata["inverted"] is False
     talon.setInverted(True)
-    assert cdata["inverted"] == True
+    assert cdata["inverted"] is True
+
+
+def test_talon_setinverted_follow(ctre, talon, cdata):
+    master = ctre.WPI_TalonSRX(3)
+    talon.follow(master)
+    assert cdata["inverted"] is False
+    talon.setInverted(ctre.WPI_TalonSRX.InvertType.FollowMaster)
+    assert cdata["inverted"] is 2
+
+    master.setInverted(True)
+    assert talon.getInverted() is True
+    master.setInverted(False)
+    assert talon.getInverted() is False
 
 
 def test_talon_initSendable(talon, sendablebuilder):