allwpilib/wpilibc/wpilibC++Devices/src/TalonSRX.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "TalonSRX.h"

//#include "NetworkCommunication/UsageReporting.h"
#include "LiveWindow/LiveWindow.h"

/**
 * Common initialization code called by all constructors.
 *
 * Note that the TalonSRX uses the following bounds for PWM values. These values should work reasonably well for
 * most controllers, but if users experience issues such as asymmetric behaviour around
 * the deadband or inability to saturate the controller in either direction, calibration is recommended.
 * The calibration procedure can be found in the TalonSRX User Manual available from Cross The Road Electronics.
 *   2.004ms = full "forward"
 *   1.52ms = the "high end" of the deadband range
 *   1.50ms = center of the deadband range (off)
 *   1.48ms = the "low end" of the deadband range
 *   0.997ms = full "reverse"
 */
void TalonSRX::InitTalonSRX() {
	SetBounds(2.004, 1.52, 1.50, 1.48, .997);
	SetPeriodMultiplier(kPeriodMultiplier_1X);
	SetRaw(m_centerPwm);
	SetZeroLatch();

	HALReport(HALUsageReporting::kResourceType_TalonSRX, GetChannel());
	LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this);
	m_isInverted = false;
}

/**
 * Construct a TalonSRX connected via PWM
 * @param channel The PWM channel that the TalonSRX is attached to. 0-9 are on-board, 10-19 are on the MXP port
 */
TalonSRX::TalonSRX(uint32_t channel) : SafePWM(channel)
{
	InitTalonSRX();
}

TalonSRX::~TalonSRX()
{
}

/**
 * Set the PWM value.
 *
 * The PWM value is set using a range of -1.0 to 1.0, appropriately
 * scaling the value for the FPGA.
 *
 * @param speed The speed value between -1.0 and 1.0 to set.
 * @param syncGroup Unused interface.
 */
void TalonSRX::Set(float speed, uint8_t syncGroup)
{
	SetSpeed(speed);
}

/**
 * Get the recently set value of the PWM.
 *
 * @return The most recently set value for the PWM between -1.0 and 1.0.
 */
float TalonSRX::Get() const
{
	return GetSpeed();
}

/**
 * Common interface for disabling a motor.
 */
void TalonSRX::Disable()
{
	SetRaw(kPwmDisabled);
}
/**
* common interface for inverting direction of a speed controller
* @param isInverted The state of inversion true is inverted
*/
void TalonSRX::SetInverted(bool isInverted){
m_isInverted = isInverted;
}
/**
 * Write out the PID value as seen in the PIDOutput base object.
 *
 * @param output Write out the PWM value as was found in the PIDController
 */
void TalonSRX::PIDWrite(float output)
{
	Set(output);
}