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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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77
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java
View File

@@ -16,8 +16,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
*$
* @see CANJaguar CANJaguar for CAN control
*/
public class Jaguar extends SafePWM implements SpeedController {
private boolean isInverted = false;
public class Jaguar extends PWMSpeedController {
/**
* Common initialization code called by all constructors.
@@ -50,78 +49,4 @@ public class Jaguar extends SafePWM implements SpeedController {
super(channel);
initJaguar();
}
/**
* Set the PWM value.
*
* @deprecated For compatibility with CANJaguar
*
* 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 to set. Value should be between -1.0 and 1.0.
* @param syncGroup The update group to add this Set() to, pending
* UpdateSyncGroup(). If 0, update immediately.
*/
@Deprecated
@Override
public void set(double speed, byte syncGroup) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* 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.
*/
@Override
public void set(double speed) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller.
*
* @param isInverted The state of inversion, true is inverted.
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Common interface for the inverting direction of a speed controller.
*
* @return isInverted The state of inversion, true is inverted.
*
*/
@Override
public boolean getInverted() {
return this.isInverted;
}
/**
* Get the recently set value of the PWM.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
@Override
public double get() {
return getSpeed();
}
/**
* 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
*/
@Override
public void pidWrite(double output) {
set(output);
}
}

95
wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMSpeedController.java Normal file
View File

@@ -0,0 +1,95 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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;
/**
* Common base class for all PWM Speed Controllers.
*/
public abstract class PWMSpeedController extends SafePWM implements SpeedController {
private boolean isInverted = false;
/**
* Constructor.
*
* @param channel The PWM channel that the controller is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
protected PWMSpeedController(int channel) {
super(channel);
}
/**
* Set the PWM value.
*
* @deprecated For compatibility with CANJaguar
*
* 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 to set. Value should be between -1.0 and 1.0.
* @param syncGroup The update group to add this Set() to, pending
* UpdateSyncGroup(). If 0, update immediately.
*/
@Deprecated
public void set(double speed, byte syncGroup) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* 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.
*/
public void set(double speed) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller
*
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Common interface for the inverting direction of a speed controller.
*
* @return isInverted The state of inversion, true is inverted.
*
*/
@Override
public boolean getInverted() {
return this.isInverted;
}
/**
* Get the recently set value of the PWM.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
public double get() {
return getSpeed();
}
/**
* 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
*/
public void pidWrite(double output) {
set(output);
}
}

72
wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java
View File

@@ -14,8 +14,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* Mindsensors SD540 Speed Controller
*/
public class SD540 extends SafePWM implements SpeedController {
private boolean isInverted = false;
public class SD540 extends PWMSpeedController {
/**
* Common initialization code called by all constructors.
@@ -51,73 +50,4 @@ public class SD540 extends SafePWM implements SpeedController {
super(channel);
initSD540();
}
/**
* Set the PWM value.
*
* @deprecated For compatibility with CANJaguar
*
* 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 to set. Value should be between -1.0 and 1.0.
* @param syncGroup The update group to add this Set() to, pending
* UpdateSyncGroup(). If 0, update immediately.
*/
public void set(double speed, byte syncGroup) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* 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.
*/
public void set(double speed) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller
*
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Common interface for the inverting direction of a speed controller.
*
* @return isInverted The state of inversion, true is inverted.
*
*/
@Override
public boolean getInverted() {
return this.isInverted;
}
/**
* Get the recently set value of the PWM.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
public double get() {
return getSpeed();
}
/**
* 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
*/
public void pidWrite(double output) {
set(output);
}
}

72
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java
View File

@@ -14,8 +14,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* REV Robotics SPARK Speed Controller
*/
public class Spark extends SafePWM implements SpeedController {
private boolean isInverted = false;
public class Spark extends PWMSpeedController {
/**
* Common initialization code called by all constructors.
@@ -51,73 +50,4 @@ public class Spark extends SafePWM implements SpeedController {
super(channel);
initSpark();
}
/**
* Set the PWM value.
*
* @deprecated For compatibility with CANJaguar
*
* 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 to set. Value should be between -1.0 and 1.0.
* @param syncGroup The update group to add this Set() to, pending
* UpdateSyncGroup(). If 0, update immediately.
*/
public void set(double speed, byte syncGroup) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* 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.
*/
public void set(double speed) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller
*
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Common interface for the inverting direction of a speed controller.
*
* @return isInverted The state of inversion, true is inverted.
*
*/
@Override
public boolean getInverted() {
return this.isInverted;
}
/**
* Get the recently set value of the PWM.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
public double get() {
return getSpeed();
}
/**
* 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
*/
public void pidWrite(double output) {
set(output);
}
}

73
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java
View File

@@ -14,8 +14,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller
*/
public class Talon extends SafePWM implements SpeedController {
private boolean isInverted = false;
public class Talon extends PWMSpeedController {
/**
* Common initialization code called by all constructors.
@@ -51,74 +50,4 @@ public class Talon extends SafePWM implements SpeedController {
super(channel);
initTalon();
}
/**
* Set the PWM value.
*
* @deprecated For compatibility with CANJaguar
*
* 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 to set. Value should be between -1.0 and 1.0.
* @param syncGroup The update group to add this Set() to, pending
* UpdateSyncGroup(). If 0, update immediately.
*/
public void set(double speed, byte syncGroup) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* 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.
*/
public void set(double speed) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller
*
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Common interface for the inverting direction of a speed controller.
*
* @return isInverted The state of inversion, true is inverted.
*
*/
@Override
public boolean getInverted() {
return this.isInverted;
}
/**
* Get the recently set value of the PWM.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
public double get() {
return getSpeed();
}
/**
* 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
*/
public void pidWrite(double output) {
set(output);
}
}

72
wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java
View File

@@ -16,8 +16,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
*$
* @see CANTalon CANTalon for CAN control of Talon SRX
*/
public class TalonSRX extends SafePWM implements SpeedController {
private boolean isInverted = false;
public class TalonSRX extends PWMSpeedController {
/**
* Common initialization code called by all constructors.
@@ -53,73 +52,4 @@ public class TalonSRX extends SafePWM implements SpeedController {
super(channel);
initTalonSRX();
}
/**
* Set the PWM value.
*
* @deprecated For compatibility with CANJaguar
*
* 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 to set. Value should be between -1.0 and 1.0.
* @param syncGroup The update group to add this Set() to, pending
* UpdateSyncGroup(). If 0, update immediately.
*/
public void set(double speed, byte syncGroup) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* 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.
*/
public void set(double speed) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller.
*
* @param isInverted The state of inversion, true is inverted.
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Common interface for the inverting direction of a speed controller.
*
* @return isInverted The state of inversion, true is inverted.
*
*/
@Override
public boolean getInverted() {
return this.isInverted;
}
/**
* Get the recently set value of the PWM.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
public double get() {
return getSpeed();
}
/**
* 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
*/
public void pidWrite(double output) {
set(output);
}
}

72
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java
View File

@@ -17,8 +17,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
* The Vex Robotics Victor 884 Speed Controller can also be used with this class
* but may need to be calibrated per the Victor 884 user manual.
*/
public class Victor extends SafePWM implements SpeedController {
private boolean isInverted = false;
public class Victor extends PWMSpeedController {
/**
* Common initialization code called by all constructors.
@@ -56,73 +55,4 @@ public class Victor extends SafePWM implements SpeedController {
super(channel);
initVictor();
}
/**
* Set the PWM value.
*
* @deprecated For compatibility with CANJaguar
*
* 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 to set. Value should be between -1.0 and 1.0.
* @param syncGroup The update group to add this Set() to, pending
* UpdateSyncGroup(). If 0, update immediately.
*/
public void set(double speed, byte syncGroup) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* 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.
*/
public void set(double speed) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller
*
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Common interface for the inverting direction of a speed controller.
*
* @return isInverted The state of inversion, true is inverted.
*
*/
@Override
public boolean getInverted() {
return this.isInverted;
}
/**
* Get the recently set value of the PWM.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
public double get() {
return getSpeed();
}
/**
* 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
*/
public void pidWrite(double output) {
set(output);
}
}

72
wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java
View File

@@ -14,8 +14,7 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* VEX Robotics Victor SP Speed Controller
*/
public class VictorSP extends SafePWM implements SpeedController {
private boolean isInverted = false;
public class VictorSP extends PWMSpeedController {
/**
* Common initialization code called by all constructors.
@@ -51,73 +50,4 @@ public class VictorSP extends SafePWM implements SpeedController {
super(channel);
initVictorSP();
}
/**
* Set the PWM value.
*
* @deprecated For compatibility with CANJaguar
*
* 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 to set. Value should be between -1.0 and 1.0.
* @param syncGroup The update group to add this Set() to, pending
* UpdateSyncGroup(). If 0, update immediately.
*/
public void set(double speed, byte syncGroup) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* 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.
*/
public void set(double speed) {
setSpeed(isInverted ? -speed : speed);
Feed();
}
/**
* Common interface for inverting direction of a speed controller
*
* @param isInverted The state of inversion true is inverted
*/
@Override
public void setInverted(boolean isInverted) {
this.isInverted = isInverted;
}
/**
* Common interface for the inverting direction of a speed controller.
*
* @return isInverted The state of inversion, true is inverted.
*
*/
@Override
public boolean getInverted() {
return this.isInverted;
}
/**
* Get the recently set value of the PWM.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
public double get() {
return getSpeed();
}
/**
* 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
*/
public void pidWrite(double output) {
set(output);
}
}