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Initial checkin of unified hierarchy of WPILib 2015

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Brad Miller
2013-12-15 18:30:16 -05:00
commit 3178911eef
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wpilibc/src/main/native/Jaguar.cpp Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#include "Jaguar.h"
#include "NetworkCommunication/UsageReporting.h"
#include "DigitalModule.h"
#include "LiveWindow/LiveWindow.h"
/**
* Common initialization code called by all constructors.
*/
void Jaguar::InitJaguar()
{
/*
* Input profile defined by Luminary Micro.
*
* Full reverse ranges from 0.671325ms to 0.6972211ms
* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
* Neutral ranges from 1.4482078ms to 1.5517922ms
* Proportional forward ranges from 1.5517922ms to 2.3027789ms
* Full forward ranges from 2.3027789ms to 2.328675ms
*/
SetBounds(2.31, 1.55, 1.507, 1.454, .697);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
nUsageReporting::report(nUsageReporting::kResourceType_Jaguar, GetChannel(), GetModuleNumber() - 1);
LiveWindow::GetInstance()->AddActuator("Jaguar", GetModuleNumber(), GetChannel(), this);
}
/**
* Constructor that assumes the default digital module.
*
* @param channel The PWM channel on the digital module that the Jaguar is attached to.
*/
Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
{
InitJaguar();
}
/**
* Constructor that specifies the digital module.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The PWM channel on the digital module that the Jaguar is attached to.
*/
Jaguar::Jaguar(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
{
InitJaguar();
}
Jaguar::~Jaguar()
{
}
/**
* Set the PWM value.
*
* The PWM value is set using a range of -1.0 to 1.0, appropriately
* scaling the value for the FPGA.
*
* @param speed The speed value between -1.0 and 1.0 to set.
* @param syncGroup Unused interface.
*/
void Jaguar::Set(float speed, uint8_t syncGroup)
{
SetSpeed(speed);
}
/**
* Get the recently set value of the PWM.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
float Jaguar::Get()
{
return GetSpeed();
}
/**
* Common interface for disabling a motor.
*/
void Jaguar::Disable()
{
SetRaw(kPwmDisabled);
}
/**
* Write out the PID value as seen in the PIDOutput base object.
*
* @param output Write out the PWM value as was found in the PIDController
*/
void Jaguar::PIDWrite(float output)
{
Set(output);
}