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Merge "Adds/Extends several integration tests. Modifies Java Servo with correct values according to the datasheet assoiciated with the Hitec HS-322HD"

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This commit is contained in:
Brad Miller (WPI)
2014-05-29 12:59:40 -07:00
committed by Gerrit Code Review
parent 447cec4df8 efeec5d986
commit 2bf9db0019
17 changed files with 715 additions and 129 deletions
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4
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/PWM.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
/* Copyright (c) FIRST 2008-2014. 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. */
@@ -201,7 +201,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
* @param deadbandMin The low end of the deadband pulse width in ms
* @param min The minimum pulse width in ms
*/
void setBounds(double max, double deadbandMax, double center, double deadbandMin, double min) {
protected void setBounds(double max, double deadbandMax, double center, double deadbandMin, double min) {
double loopTime = m_module.getLoopTiming()/(kSystemClockTicksPerMicrosecond*1e3);
m_maxPwm = (int)((max-kDefaultPwmCenter)/loopTime+kDefaultPwmStepsDown-1);

23
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Servo.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2012. All Rights Reserved. */
/* Copyright (c) FIRST 2008-2014. 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. */
@@ -22,17 +22,21 @@ import edu.wpi.first.wpilibj.tables.ITableListener;
*/
public class Servo extends PWM implements IDevice {
private static final double kMaxServoAngle = 170.0;
private static final double kMaxServoAngle = 180.0;
private static final double kMinServoAngle = 0.0;
private static final double kDefaultMaxServoPWM = 2.4;
private static final double kDefaultMinServoPWM = .6;
/**
* Common initialization code called by all constructors.
*
* InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
* well as the minimum and maximum PWM values supported by the servo.
*
*/
private void initServo() {
setBounds(2.27, 0, 0, 0, .743);
setBounds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM);
setPeriodMultiplier(PeriodMultiplier.k4X);
LiveWindow.addActuator("Servo", getModuleNumber(), getChannel(), this);
@@ -40,7 +44,10 @@ public class Servo extends PWM implements IDevice {
}
/**
* Constructor that assumes the default digital module.
* Constructor that assumes the default digital module.<br>
*
* By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
* By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
*
* @param channel The PWM channel on the digital module to which the servo is attached.
*/
@@ -50,8 +57,11 @@ public class Servo extends PWM implements IDevice {
}
/**
* Constructor that specifies the digital module.
* Constructor that specifies the digital module.<br>
*
* By default {@value #kDefaultMaxServoPWM} ms is used as the maxPWM value<br>
* By default {@value #kDefaultMinServoPWM} ms is used as the minPWM value<br>
*
* @param slot The slot in the chassis that the digital module is plugged into.
* @param channel The PWM channel on the digital module to which the servo is attached.
*/
@@ -59,8 +69,9 @@ public class Servo extends PWM implements IDevice {
super(slot, channel);
initServo();
}
/**
/**
* Set the servo position.
*
* Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.