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Add Digilent DMC 60 Speed Controller (#855)

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This commit is contained in:
sciencewhiz
2017-12-28 19:42:19 -08:00
committed by Peter Johnson
parent 566e283694
commit 02131639bc
4 changed files with 110 additions and 0 deletions
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42
wpilibc/src/main/native/cpp/DMC60.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2017 FIRST. 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 the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "DMC60.h"
#include <HAL/HAL.h>
using namespace frc;
/**
* Constructor for a Digilent DMC 60.
*
* @param channel The PWM channel that the DMC 60 is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
DMC60::DMC60(int channel) : PWMSpeedController(channel) {
/**
* Note that the DMC 60 uses the following bounds for PWM values. These
* values should work reasonably well for most controllers, but if users
* experience issues such as asymmetric behavior around the deadband or
* inability to saturate the controller in either direction, calibration is
* recommended. The calibration procedure can be found in the DMC 60 User
* Manual available from Digilent.
*
* 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"
*/
SetBounds(2.004, 1.52, 1.50, 1.48, .997);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
// HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel());
SetName("DMC60", GetChannel());
}

22
wpilibc/src/main/native/include/DMC60.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2017 FIRST. 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 the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "PWMSpeedController.h"
namespace frc {
/**
* Digilent DMC 60 Speed Controller.
*/
class DMC60 : public PWMSpeedController {
public:
explicit DMC60(int channel);
};
} // namespace frc

1
wpilibc/src/main/native/include/WPILib.h
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@@ -37,6 +37,7 @@
#include "Compressor.h"
#include "ControllerPower.h"
#include "Counter.h"
#include "DMC60.h"
#include "DigitalInput.h"
#include "DigitalOutput.h"
#include "DigitalSource.h"

45
wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2017 FIRST. 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 the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
//import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
//import edu.wpi.first.wpilibj.hal.HAL;
/**
* Digilent DMC 60 Speed Controller.
*/
public class DMC60 extends PWMSpeedController {
/**
* Constructor.
*
* <p>Note that the DMC uses the following bounds for PWM values. These values should work
* reasonably well for most controllers, but if users experience issues such as asymmetric
* behavior around the deadband or inability to saturate the controller in either direction,
* calibration is recommended. The calibration procedure can be found in the DMC 60 User Manual
* available from Digilent
*
* <p>- 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 - .997ms =
* full "reverse"
*
* @param channel The PWM channel that the DMC60 is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
public DMC60(final int channel) {
super(channel);
setBounds(2.004, 1.52, 1.50, 1.48, .997);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
//HAL.report(tResourceType.kResourceType_VictorSP, getChannel());
setName("DMC60", getChannel());
}
}