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Implements a common PWMSpeedController base class

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There was a lot of duplicated code between all 7 PWM speed controllers.
This moves all the duplicated code down to a base class, that will make
it easier to add speed controllers in future years if needed again. Also
if we need to add a method to all speed controllers, we only have to do
it in 1 place, and not 7.

Change-Id: I25eb1d097c0f5f7dbd7656db2f4a30d006d50f98
This commit is contained in:
Thad House
2016-02-05 13:38:21 -08:00
committed by Gerrit Code Review
parent 686f5d9fef
commit 0f228e7b7d
25 changed files with 223 additions and 971 deletions
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53
wpilibc/Athena/src/Talon.cpp
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@@ -14,7 +14,7 @@
* @param channel The PWM channel number that the Talon is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
Talon::Talon(uint32_t channel) : SafePWM(channel) {
Talon::Talon(uint32_t channel) : PWMSpeedController(channel) {
/* Note that the Talon 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
@@ -36,54 +36,3 @@ Talon::Talon(uint32_t channel) : SafePWM(channel) {
HALReport(HALUsageReporting::kResourceType_Talon, GetChannel());
LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
}
/**
* 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 Talon::Set(float speed, uint8_t syncGroup) {
SetSpeed(m_isInverted ? -speed : 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 Talon::Get() const { return GetSpeed(); }
/**
* Common interface for disabling a motor.
*/
void Talon::Disable() { SetRaw(kPwmDisabled); }
/**
* common interface for inverting direction of a speed controller
* @param isInverted The state of inversion true is inverted
*/
void Talon::SetInverted(bool isInverted) { m_isInverted = isInverted; }
/**
* Common interface for the inverting direction of a speed controller.
*
* @return isInverted The state of inversion, true is inverted.
*
*/
bool Talon::GetInverted() const { return m_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 Talon::PIDWrite(float output) { Set(output); }
/**
* Common interface to stop the motor until Set is called again.
*/
void Talon::StopMotor() { this->SafePWM::StopMotor(); }