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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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9
wpilibc/src/main/native/cpp/ExpansionHubServo.cpp
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@@ -12,10 +12,11 @@ using namespace wpi;
ExpansionHubServo::ExpansionHubServo(int usbId, int channel)
: m_hub{usbId}, m_channel{channel} {
WPILIB_AssertMessage(channel >= 0 && channel < ExpansionHub::NumServoPorts,
"ExHub Servo Channel {} out of range", channel);
"ExHub Servo Channel {} out of range", channel);
if (!m_hub.CheckAndReserveServo(channel)) {
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "Channel {}", channel);
throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "Channel {}",
channel);
}
m_hub.ReportUsage(fmt::format("ExHubServo[{}]", channel), "ExHubServo");
@@ -98,7 +99,7 @@ void ExpansionHubServo::SetPWMRange(wpi::units::microsecond_t minPwm,
wpi::units::microsecond_t maxPwm) {
if (maxPwm <= minPwm) {
throw WPILIB_MakeError(err::ParameterOutOfRange,
"Max PWM must be greater than Min PWM");
"Max PWM must be greater than Min PWM");
}
m_minPwm = minPwm;
m_maxPwm = maxPwm;
@@ -110,7 +111,7 @@ void ExpansionHubServo::SetAngleRange(wpi::units::degree_t minAngle,
wpi::units::degree_t maxAngle) {
if (maxAngle <= minAngle) {
throw WPILIB_MakeError(err::ParameterOutOfRange,
"Max angle must be greater than Min angle");
"Max angle must be greater than Min angle");
}
m_minServoAngle = minAngle;
m_maxServoAngle = maxAngle;