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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/Talon.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 "Talon.h"
#include "DigitalModule.h"
#include "NetworkCommunication/UsageReporting.h"
#include "LiveWindow/LiveWindow.h"
/**
* Common initialization code called by all constructors.
*
* Note that the Talon 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 User Manual available from CTRE.
*
* - 211 = full "forward"
* - 133 = the "high end" of the deadband range
* - 129 = center of the deadband range (off)
* - 125 = the "low end" of the deadband range
* - 49 = full "reverse"
*/
void Talon::InitTalon() {
SetBounds(2.037, 1.539, 1.513, 1.487, .989);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
nUsageReporting::report(nUsageReporting::kResourceType_Talon, GetChannel(), GetModuleNumber() - 1);
LiveWindow::GetInstance()->AddActuator("Talon", GetModuleNumber(), GetChannel(), this);
}
/**
* Constructor that assumes the default digital module.
*
* @param channel The PWM channel on the digital module that the Talon is attached to.
*/
Talon::Talon(uint32_t channel) : SafePWM(channel)
{
InitTalon();
}
/**
* 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 Talon is attached to (1..10).
*/
Talon::Talon(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
{
InitTalon();
}
Talon::~Talon()
{
}
/**
* 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 Talon::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 Talon::Get()
{
return GetSpeed();
}
/**
* Common interface for disabling a motor.
*/
void Talon::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 Talon::PIDWrite(float output)
{
Set(output);
}