Merge pull request #48 from robotpy/fix-set-feedback-device

Fix various bindings issues

Author: virtuald

gen/CANAnalog.yml

@@ -0,0 +1,20 @@
+---
+
+classes:
+  CANAnalog:
+    enums:
+      AnalogMode:
+    methods:
+      GetVoltage:
+      GetPosition:
+      GetVelocity:
+      SetPositionConversionFactor:
+      GetPositionConversionFactor:
+      SetVelocityConversionFactor:
+      GetVelocityConversionFactor:
+      SetAverageDepth:
+      SetMeasurementPeriod:
+      GetAverageDepth:
+      GetMeasurementPeriod:
+      SetInverted:
+      GetInverted:

gen/CANEncoder.yml

@@ -0,0 +1,22 @@
+---
+
+classes:
+  CANEncoder:
+    enums:
+      EncoderType:
+      AlternateEncoderType:
+    methods:
+      GetPosition:
+      GetVelocity:
+      SetPosition:
+      SetPositionConversionFactor:
+      SetVelocityConversionFactor:
+      GetPositionConversionFactor:
+      GetVelocityConversionFactor:
+      SetAverageDepth:
+      SetMeasurementPeriod:
+      GetAverageDepth:
+      GetMeasurementPeriod:
+      GetCountsPerRevolution:
+      SetInverted:
+      GetInverted:

gen/CANSparkMax.yml

@@ -43,7 +43,12 @@ classes:
             - [0, 1]
           CANAnalog::AnalogMode:
             ignore: true
+      GetAbsoluteEncoder:
+        keepalive:
+        - [0, 1]
       GetPIDController:
+        keepalive:
+        - [0, 1]
       GetForwardLimitSwitch:
         overloads:
           SparkMaxLimitSwitch::Type:

gen/RelativeEncoder.yml

@@ -2,8 +2,6 @@
 
 classes:
   RelativeEncoder:
-    ignored_bases:
-    - CANEncoder
     methods:
       GetPosition:
       GetVelocity:

gen/SparkMaxAnalogSensor.yml

@@ -2,8 +2,6 @@
 
 classes:
   SparkMaxAnalogSensor:
-    ignored_bases:
-    - CANAnalog
     enums:
       Mode:
     methods:

pyproject.toml

@@ -58,10 +58,10 @@ generation_data = "gen"
 # rev
 AbsoluteEncoder = "rev/AbsoluteEncoder.h"
 AnalogInput = "rev/AnalogInput.h"
-# CANAnalog = "rev/CANAnalog.h"
+CANAnalog = "rev/CANAnalog.h"
 # CANDeviceScanner = "rev/CANDeviceScanner.h"
 # CANDigitalInput = "rev/CANDigitalInput.h"
-# CANEncoder = "rev/CANEncoder.h"
+CANEncoder = "rev/CANEncoder.h"
 # CANPIDController = "rev/CANPIDController.h"
 CANSensor = "rev/CANSensor.h"
 CANSparkMax = "rev/CANSparkMax.h"

tests/test_canspark.py

@@ -5,6 +5,13 @@ def test_rev():
     pass
 
 
+def test_canspark_setfeedbackdevice():
+    s = rev.CANSparkMax(1, rev.CANSparkMaxLowLevel.MotorType.kBrushless)
+    e = s.getEncoder()
+    p = s.getPIDController()
+    p.setFeedbackDevice(e)
+
+
 # def test_init(rev):
 #     rev.CANSparkMax(0, rev.MotorType.kBrushless)