Add 2020 speed controllers (#2188)

Add CTRE TalonFX (PWMTalonFX)
Add Playing with Fusion Venom (PWMVenom)

wpilibc/src/main/native/cpp/PWMTalonFX.cpp

@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 "frc/PWMTalonFX.h"
+
+#include <hal/FRCUsageReporting.h>
+
+#include "frc/smartdashboard/SendableRegistry.h"
+
+using namespace frc;
+
+PWMTalonFX::PWMTalonFX(int channel) : PWMSpeedController(channel) {
+  SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+  SetPeriodMultiplier(kPeriodMultiplier_1X);
+  SetSpeed(0.0);
+  SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_TalonFX, GetChannel() + 1);
+  SendableRegistry::GetInstance().SetName(this, "PWMTalonFX", GetChannel());
+}

wpilibc/src/main/native/cpp/PWMVenom.cpp

@@ -0,0 +1,24 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 "frc/PWMVenom.h"
+
+#include <hal/FRCUsageReporting.h>
+
+#include "frc/smartdashboard/SendableRegistry.h"
+
+using namespace frc;
+
+PWMVenom::PWMVenom(int channel) : PWMSpeedController(channel) {
+  SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+  SetPeriodMultiplier(kPeriodMultiplier_1X);
+  SetSpeed(0.0);
+  SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_FusionVenom, GetChannel() + 1);
+  SendableRegistry::GetInstance().SetName(this, "PWMVenom", GetChannel());
+}

wpilibc/src/main/native/include/frc/PWMTalonFX.h

@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 "frc/PWMSpeedController.h"
+
+namespace frc {
+
+/**
+ * Cross the Road Electronics (CTRE) Talon FX Speed Controller with PWM
+ * control.
+ *
+ * Note that the Talon FX 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 Talon FX User
+ * Manual available from Cross The Road Electronics.
+ *
+ * \li 2.004ms = full "forward"
+ * \li 1.520ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.480ms = the "low end" of the deadband range
+ * \li 0.997ms = full "reverse"
+ */
+class PWMTalonFX : public PWMSpeedController {
+ public:
+  /**
+   * Construct a Talon FX connected via PWM.
+   *
+   * @param channel The PWM channel that the Talon FX is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit PWMTalonFX(int channel);
+
+  PWMTalonFX(PWMTalonFX&&) = default;
+  PWMTalonFX& operator=(PWMTalonFX&&) = default;
+};
+
+}  // namespace frc

wpilibc/src/main/native/include/frc/PWMVenom.h

@@ -0,0 +1,43 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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 "frc/PWMSpeedController.h"
+
+namespace frc {
+
+/**
+ * Playing with Fusion Venom Smart Motor with PWM control.
+ *
+ * Note that the Venom 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.
+ *
+ * \li 2.004ms = full "forward"
+ * \li 1.520ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.480ms = the "low end" of the deadband range
+ * \li 0.997ms = full "reverse"
+ */
+class PWMVenom : public PWMSpeedController {
+ public:
+  /**
+   * Construct a Venom connected via PWM.
+   *
+   * @param channel The PWM channel that the Venom is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit PWMVenom(int channel);
+
+  PWMVenom(PWMVenom&&) = default;
+  PWMVenom& operator=(PWMVenom&&) = default;
+};
+
+}  // namespace frc

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonFX.java

@@ -0,0 +1,49 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+
+/**
+ * Cross the Road Electronics (CTRE) Talon FX Speed Controller with PWM control.
+ *
+ * <p>Note that the TalonFX 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 TalonFX User Manual
+ * available from CTRE.
+ *
+ * <p><ul>
+ * <li>2.004ms = full "forward"
+ * <li>1.520ms = the "high end" of the deadband range
+ * <li>1.500ms = center of the deadband range (off)
+ * <li>1.480ms = the "low end" of the deadband range
+ * <li>0.997ms = full "reverse"
+ * </ul>
+ */
+public class PWMTalonFX extends PWMSpeedController {
+  /**
+   * Constructor for a TalonFX connected via PWM.
+   *
+   * @param channel The PWM channel that the Talon FX is attached to. 0-9 are on-board, 10-19 are
+   *                on the MXP port
+   */
+  public PWMTalonFX(final int channel) {
+    super(channel);
+
+    setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+    setPeriodMultiplier(PeriodMultiplier.k1X);
+    setSpeed(0.0);
+    setZeroLatch();
+
+    HAL.report(tResourceType.kResourceType_TalonFX, getChannel() + 1);
+    SendableRegistry.setName(this, "PWMTalonFX", getChannel());
+  }
+}

wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVenom.java

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
+
+/**
+ * Playing with Fusion Venom Smart Motor with PWM control.
+ *
+ * <p>Note that the Venom 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.
+ *
+ * <p><ul>
+ * <li>2.004ms = full "forward"
+ * <li>1.520ms = the "high end" of the deadband range
+ * <li>1.500ms = center of the deadband range (off)
+ * <li>1.480ms = the "low end" of the deadband range
+ * <li>0.997ms = full "reverse"
+ * </ul>
+ */
+public class PWMVenom extends PWMSpeedController {
+  /**
+   * Constructor for a Venom connected via PWM.
+   *
+   * @param channel The PWM channel that the Venom is attached to. 0-9 are on-board, 10-19 are
+   *                on the MXP port
+   */
+  public PWMVenom(final int channel) {
+    super(channel);
+
+    setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
+    setPeriodMultiplier(PeriodMultiplier.k1X);
+    setSpeed(0.0);
+    setZeroLatch();
+
+    HAL.report(tResourceType.kResourceType_FusionVenom, getChannel() + 1);
+    SendableRegistry.setName(this, "PWMVenom", getChannel());
+  }
+}