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Add FPGA Duty Cycle support (#1987)

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This commit is contained in:
Thad House
2019-11-01 23:41:30 -07:00
committed by Peter Johnson
parent 509819d83f
commit 1d695a1660
42 changed files with 1744 additions and 72 deletions
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44
myRobot/src/main/native/cpp/MyRobot.cpp
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2016-2018 FIRST. All Rights Reserved. */
/* Copyright (c) 2016-2019 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. */
@@ -7,12 +7,42 @@
#include <frc/TimedRobot.h>
#include <hal/CAN.h>
#include <hal/DIO.h>
#include <hal/DutyCycle.h>
#include <hal/HALBase.h>
#include "frc/smartdashboard/SmartDashboard.h"
HAL_DigitalHandle inputHandle;
HAL_DutyCycleHandle dutyCycleHandle;
class MyRobot : public frc::TimedRobot {
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
void RobotInit() override {}
void RobotInit() override {
int32_t status = 0;
inputHandle = HAL_InitializeDIOPort(HAL_GetPort(9), true, &status);
std::cout << "DIO Status: " << status << std::endl;
dutyCycleHandle = HAL_InitializeDutyCycle(
inputHandle, HAL_AnalogTriggerType::HAL_Trigger_kInWindow, &status);
std::cout << "Duty Cycle Status: " << status << std::endl;
// float pbs = 0;
// uint32_t boc = 0;
// uint32_t txfc = 0;
// uint32_t rec = 0;
// uint32_t tec = 0;
status = 0;
auto start = HAL_GetFPGATime(&status);
// HAL_CAN_GetCANStatus(&pbs, &boc, &txfc, &rec, &tec, &status);
uint8_t data = 0;
HAL_CAN_SendMessage(0, &data, 1, HAL_CAN_SEND_PERIOD_NO_REPEAT, &status);
auto end = HAL_GetFPGATime(&status);
std::cout << "Start " << start << " end " << end << std::endl;
}
/**
* This function is run once each time the robot enters autonomous mode
@@ -42,7 +72,15 @@ class MyRobot : public frc::TimedRobot {
/**
* This function is called periodically during all modes
*/
void RobotPeriodic() override {}
void RobotPeriodic() override {
int32_t status = 0;
auto freq = HAL_GetDutyCycleFrequency(dutyCycleHandle, &status);
auto raw = HAL_GetDutyCycleOutputRaw(dutyCycleHandle, &status);
auto percentage = HAL_GetDutyCycleOutput(dutyCycleHandle, &status);
frc::SmartDashboard::PutNumber("Freq", freq);
frc::SmartDashboard::PutNumber("Raw", raw);
frc::SmartDashboard::PutNumber("Percentage", percentage);
}
};
int main() { return frc::StartRobot<MyRobot>(); }