Merge pull request #15 from nickschatz/master

Add current limiting functions
robotpy · Sep 12, 2017 · fd3840f · fd3840f
2 parents 447a047 + 14a82e9
commit fd3840f
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Showing 3 changed files with 21 additions and 1 deletion.
diff --git a/ctre/_impl/cantalon_sim.py b/ctre/_impl/cantalon_sim.py
@@ -182,7 +182,9 @@ def __init__(self, deviceNumber, controlPeriodMs, enablePeriodMs):
             'mp_btmBufferCnt': 0,
             'mp_topBufferRem': 0,
             'mp_zeroPos': 0,
-            'mp_outputEnable': TalonSRXConst.kMotionProfile_Disable
+            'mp_outputEnable': TalonSRXConst.kMotionProfile_Disable,
+
+            'current_limit_enable': False
         })
 
         hal_data['CAN'][deviceNumber] = self.hal_data
@@ -575,6 +577,9 @@ def SetRampThrottle(self, param):
     def SetRevFeedbackSensor(self, param):
         self.hal_data['rev_feedback_sensor'] = param
 
+    def SetCurrentLimEnable(self, param):
+        self.hal_data['current_limit_enable'] = param
+
 
 
 #############################################################################

diff --git a/ctre/cantalon.py b/ctre/cantalon.py
@@ -1552,6 +1552,17 @@ def clearMotionProfileHasUnderrun(self):
         """
         self.setParameter(param_t.eMotionProfileHasUnderrunErr, 0)
 
+    def setCurrentLimit(self, amps):
+        """
+        
+        :param amps: 
+        :return: 
+        """
+        self.setParameter(param_t.eCurrentLimThreshold, amps)
+
+    def enableCurrentLimit(self, enable):
+        self.handle.SetCurrentLimEnable(enable)
+
     def getDescription(self):
         return "CANTalon ID %d" % self.deviceNumber
 

diff --git a/tests/test_cantalon.py b/tests/test_cantalon.py
@@ -109,6 +109,10 @@ def test_ct_basic(cantalon_and_data):
 
     status = ctre.CANTalon.MotionProfileStatus()
     ct.getMotionProfileStatus(status)
+
+    # test current threshold
+    ct.setCurrentLimit(30)
+    ct.enableCurrentLimit(True)