JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetAppliedThrottle
 (JNIEnv * env, jclass, jlong handle)
 {
     int retval;
     CTR_Code status = ((CanTalonSRX*)handle)->GetAppliedThrottle(retval);
     CheckCTRStatus(env, status);
     return retval;
 }

JNIEXPORT jint JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetPulseWidthVelocity
  (JNIEnv * env, jclass, jlong handle)
{
  int retval;
  CTR_Code status = ((CanTalonSRX*)handle)->GetPulseWidthVelocity(retval);
  CheckCTRStatus(env, status);
  return retval;
}

/*
 * Class:     edu_wpi_first_wpilibj_hal_CanTalonJNI
 * Method:    GetMotionProfileStatus
 * Signature: (JLedu/wpi/first/wpilibj/CANTalon;Ledu/wpi/first/wpilibj/CANTalon/MotionProfileStatus;)V
 */
JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_GetMotionProfileStatus
  (JNIEnv *env, jclass, jlong handle, jobject canTalon, jobject motionProfileStatus)
{
  static jmethodID setMotionProfileStatusFromJNI = nullptr;
  if (!setMotionProfileStatusFromJNI) {
    jclass cls = env->GetObjectClass(canTalon);
    setMotionProfileStatusFromJNI = env->GetMethodID(cls, "setMotionProfileStatusFromJNI", "(Ledu/wpi/first/wpilibj/CANTalon$MotionProfileStatus;IIIIIIII)V");
    if (!setMotionProfileStatusFromJNI) return;
  }

  uint32_t flags;
  uint32_t profileSlotSelect;
  int32_t targPos;
  int32_t targVel;
  uint32_t topBufferRem;
  uint32_t topBufferCnt;
  uint32_t btmBufferCnt;
  uint32_t outputEnable;
  CTR_Code status = ((CanTalonSRX*)handle)->GetMotionProfileStatus(flags, profileSlotSelect, targPos, targVel, topBufferRem, topBufferCnt, btmBufferCnt, outputEnable);
  if (!CheckCTRStatus(env, status)) return;

  env->CallVoidMethod(canTalon, setMotionProfileStatusFromJNI, motionProfileStatus, (jint)flags, (jint)profileSlotSelect, (jint)targPos, (jint)targVel, (jint)topBufferRem, (jint)topBufferCnt, (jint)btmBufferCnt, (jint)outputEnable);
}

JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_CanTalonJNI_SetProfileSlotSelect
  (JNIEnv * env, jclass, jlong handle, jint param)
{
  CTR_Code status = ((CanTalonSRX*)handle)->SetProfileSlotSelect(param);
  CheckCTRStatus(env, status);
}