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[hal] Add frequency support to DutyCycle (#8076)

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This commit is contained in:
Thad House
2025-07-14 23:46:17 -07:00
committed by GitHub
parent ef24c1df97
commit 3497a7d09f
31 changed files with 153 additions and 355 deletions
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20
wpilibc/src/main/native/cpp/simulation/DutyCycleSim.cpp
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@@ -15,18 +15,10 @@ using namespace frc;
using namespace frc::sim;
DutyCycleSim::DutyCycleSim(const DutyCycle& dutyCycle)
: m_index{dutyCycle.GetFPGAIndex()} {}
: m_index{dutyCycle.GetSourceChannel()} {}
DutyCycleSim DutyCycleSim::CreateForChannel(int channel) {
int index = HALSIM_FindDutyCycleForChannel(channel);
if (index < 0) {
throw std::out_of_range("no duty cycle found for channel");
}
return DutyCycleSim{index};
}
DutyCycleSim DutyCycleSim::CreateForIndex(int index) {
return DutyCycleSim{index};
return DutyCycleSim{channel};
}
std::unique_ptr<CallbackStore> DutyCycleSim::RegisterInitializedCallback(
@@ -55,12 +47,12 @@ std::unique_ptr<CallbackStore> DutyCycleSim::RegisterFrequencyCallback(
return store;
}
int DutyCycleSim::GetFrequency() const {
return HALSIM_GetDutyCycleFrequency(m_index);
units::hertz_t DutyCycleSim::GetFrequency() const {
return units::hertz_t{HALSIM_GetDutyCycleFrequency(m_index)};
}
void DutyCycleSim::SetFrequency(int frequency) {
HALSIM_SetDutyCycleFrequency(m_index, frequency);
void DutyCycleSim::SetFrequency(units::hertz_t frequency) {
HALSIM_SetDutyCycleFrequency(m_index, frequency.value());
}
std::unique_ptr<CallbackStore> DutyCycleSim::RegisterOutputCallback(