Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-01 02:41:48 +00:00
Code Issues Packages Projects Releases Wiki Activity

[hal] Use std::lround() instead of adding 0.5 and truncating (#3012)

Browse Source
This commit is contained in:
Peter Johnson
2021-03-19 14:24:46 -07:00
committed by GitHub
parent 48e9f39513
commit 160fb740f4
3 changed files with 13 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
hal/src/main/native/athena/DigitalInternal.cpp
View File

@@ -5,6 +5,7 @@
#include "DigitalInternal.h"
#include <atomic>
#include <cmath>
#include <thread>
#include <FRC_NetworkCommunication/LoadOut.h>
@@ -108,10 +109,10 @@ void initializeDigital(int32_t* status) {
double loopTime = pwmSystem->readLoopTiming(status) /
(kSystemClockTicksPerMicrosecond * 1e3);
pwmSystem->writeConfig_Period(
static_cast<uint16_t>(kDefaultPwmPeriod / loopTime + 0.5), status);
uint16_t minHigh = static_cast<uint16_t>(
(kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime + 0.5);
pwmSystem->writeConfig_Period(std::lround(kDefaultPwmPeriod / loopTime),
status);
uint16_t minHigh = std::lround(
(kDefaultPwmCenter - kDefaultPwmStepsDown * loopTime) / loopTime);
pwmSystem->writeConfig_MinHigh(minHigh, status);
// Ensure that PWM output values are set to OFF
for (uint8_t pwmIndex = 0; pwmIndex < kNumPWMChannels; pwmIndex++) {