mirror of
https://github.com/wpilibsuite/allwpilib
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89 lines
2.7 KiB
C++
89 lines
2.7 KiB
C++
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "SD540.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Note that the SD540 uses the following bounds for PWM values. These values
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* should work reasonably well for
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* most controllers, but if users experience issues such as asymmetric behavior
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* around
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* the deadband or inability to saturate the controller in either direction,
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* calibration is recommended.
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* The calibration procedure can be found in the SD540 User Manual available
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* from Mindsensors.
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*
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* 2.05ms = full "forward"
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* 1.55ms = the "high end" of the deadband range
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* 1.50ms = center of the deadband range (off)
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* 1.44ms = the "low end" of the deadband range
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* 0.94ms = full "reverse"
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*/
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/**
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* Constructor for a SD540
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* @param channel The PWM channel that the SD540 is attached to. 0-9 are
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* on-board, 10-19 are on the MXP port
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*/
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SD540::SD540(uint32_t channel) : SafePWM(channel) {
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SetBounds(2.05, 1.55, 1.50, 1.44, .94);
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SetPeriodMultiplier(kPeriodMultiplier_1X);
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SetRaw(m_centerPwm);
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SetZeroLatch();
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HALReport(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel());
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LiveWindow::GetInstance()->AddActuator("SD540", GetChannel(), this);
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}
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/**
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* Set the PWM value.
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*
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* The PWM value is set using a range of -1.0 to 1.0, appropriately
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* scaling the value for the FPGA.
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*
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* @param speed The speed value between -1.0 and 1.0 to set.
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* @param syncGroup Unused interface.
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*/
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void SD540::Set(float speed, uint8_t syncGroup) {
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SetSpeed(m_isInverted ? -speed : speed);
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}
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/**
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* Get the recently set value of the PWM.
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*
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* @return The most recently set value for the PWM between -1.0 and 1.0.
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*/
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float SD540::Get() const { return GetSpeed(); }
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/**
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* Common interface for inverting direction of a speed controller.
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* @param isInverted The state of inversion, true is inverted.
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*/
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void SD540::SetInverted(bool isInverted) { m_isInverted = isInverted; }
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/**
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* Common interface for the inverting direction of a speed controller.
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*
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* @return isInverted The state of inversion, true is inverted.
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*
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*/
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bool SD540::GetInverted() const { return m_isInverted; }
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/**
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* Common interface for disabling a motor.
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*/
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void SD540::Disable() { SetRaw(kPwmDisabled); }
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/**
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* Write out the PID value as seen in the PIDOutput base object.
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*
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* @param output Write out the PWM value as was found in the PIDController
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*/
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void SD540::PIDWrite(float output) { Set(output); }
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