Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-29 02:21:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add PWMVictorSPX (#842)

Browse Source
This commit is contained in:
Thad House
2017-12-17 19:59:30 -08:00
committed by Peter Johnson
parent 7eab4371f4
commit 166d9e01bf
4 changed files with 110 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
wpilibc/src/main/native/cpp/PWMVictorSPX.cpp Normal file
View File

@@ -0,0 +1,40 @@
/*----------------------------------------------------------------------------*/
/* 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 "PWMVictorSPX.h"
#include <HAL/HAL.h>
using namespace frc;
/**
* Construct a PWMVictorSPX connected via PWM.
*
* @param channel The PWM channel that the PWMVictorSPX is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
PWMVictorSPX::PWMVictorSPX(int channel) : PWMSpeedController(channel) {
/* Note that the PWMVictorSPX 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 VictorSPX 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"
*/
SetBounds(2.004, 1.52, 1.50, 1.48, .997);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
// HAL_Report(HALUsageReporting::kResourceType_PWMVictorSPX, GetChannel());
SetName("PWMVictorSPX", GetChannel());
}

23
wpilibc/src/main/native/include/PWMVictorSPX.h Normal file
View File

@@ -0,0 +1,23 @@
/*----------------------------------------------------------------------------*/
/* 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 {
/**
* Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM
* control.
*/
class PWMVictorSPX : public PWMSpeedController {
public:
explicit PWMVictorSPX(int channel);
};
} // namespace frc

1
wpilibc/src/main/native/include/WPILib.h
View File

@@ -63,6 +63,7 @@
#include "PWM.h"
#include "PWMSpeedController.h"
#include "PWMTalonSRX.h"
#include "PWMVictorSPX.h"
#include "PowerDistributionPanel.h"
#include "Preferences.h"
#include "Relay.h"

46
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java Normal file
View File

@@ -0,0 +1,46 @@
/*----------------------------------------------------------------------------*/
/* 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;
/**
* Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control.
*/
public class PWMVictorSPX extends PWMSpeedController {
/**
* Constructor for a PWMVictorSPX connected via PWM.
*
* <p>Note that the PWMVictorSPX 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 VictorSPX User
* Manual available from CTRE.
*
* <p>- 2.0004ms = 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 PWMVictorSPX is attached to. 0-9 are on-board, 10-19
* are on the MXP port
*/
public PWMVictorSPX(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_PWMVictorSPX, getChannel());
setName("PWMVictorSPX", getChannel());
}
}