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[wpilib] DutyCycleEncoder: add setting of duty cycle range (#3759)

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As the sensor needs to maintain an actual duty cycle, it can't go all
the way from 0-100, so provide a way to set the min and max and linearly
map between the two.
This commit is contained in:
Peter Johnson
2021-12-05 14:28:08 -08:00
committed by GitHub
parent a5a56dd067
commit 3ef2dab465
3 changed files with 57 additions and 0 deletions
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13
wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
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@@ -89,6 +89,14 @@ units::turn_t DutyCycleEncoder::Get() const {
auto counter2 = m_counter->Get();
auto pos2 = m_dutyCycle->GetOutput();
if (counter == counter2 && pos == pos2) {
// map sensor range
if (pos < m_sensorMin) {
pos = m_sensorMin;
}
if (pos > m_sensorMax) {
pos = m_sensorMax;
}
pos = (pos - m_sensorMin) / (m_sensorMax - m_sensorMin);
units::turn_t turns{counter + pos - m_positionOffset};
m_lastPosition = turns;
return turns;
@@ -102,6 +110,11 @@ units::turn_t DutyCycleEncoder::Get() const {
return m_lastPosition;
}
void DutyCycleEncoder::SetDutyCycleRange(double min, double max) {
m_sensorMin = std::clamp(min, 0.0, 1.0);
m_sensorMax = std::clamp(max, 0.0, 1.0);
}
void DutyCycleEncoder::SetDistancePerRotation(double distancePerRotation) {
m_distancePerRotation = distancePerRotation;
m_simDistancePerRotation.Set(distancePerRotation);

17
wpilibc/src/main/native/include/frc/DutyCycleEncoder.h
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@@ -121,6 +121,21 @@ class DutyCycleEncoder : public wpi::Sendable,
*/
units::turn_t Get() const;
/**
* Set the encoder duty cycle range. As the encoder needs to maintain a duty
* cycle, the duty cycle cannot go all the way to 0% or all the way to 100%.
* For example, an encoder with a 4096 us period might have a minimum duty
* cycle of 1 us / 4096 us and a maximum duty cycle of 4095 / 4096 us. Setting
* the range will result in an encoder duty cycle less than or equal to the
* minimum being output as 0 rotation, the duty cycle greater than or equal to
* the maximum being output as 1 rotation, and values in between linearly
* scaled from 0 to 1.
*
* @param min minimum duty cycle (0-1 range)
* @param max maximum duty cycle (0-1 range)
*/
void SetDutyCycleRange(double min, double max);
/**
* Set the distance per rotation of the encoder. This sets the multiplier used
* to determine the distance driven based on the rotation value from the
@@ -175,6 +190,8 @@ class DutyCycleEncoder : public wpi::Sendable,
double m_positionOffset = 0;
double m_distancePerRotation = 1.0;
mutable units::turn_t m_lastPosition{0.0};
double m_sensorMin = 0;
double m_sensorMax = 1;
hal::SimDevice m_simDevice;
hal::SimDouble m_simPosition;

27
wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
View File

@@ -7,6 +7,7 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.SimBoolean;
import edu.wpi.first.hal.SimDevice;
import edu.wpi.first.hal.SimDouble;
import edu.wpi.first.math.MathUtil;
import edu.wpi.first.util.sendable.Sendable;
import edu.wpi.first.util.sendable.SendableBuilder;
import edu.wpi.first.util.sendable.SendableRegistry;
@@ -26,6 +27,8 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
private double m_positionOffset;
private double m_distancePerRotation = 1.0;
private double m_lastPosition;
private double m_sensorMin;
private double m_sensorMax = 1.0;
protected SimDevice m_simDevice;
protected SimDouble m_simPosition;
@@ -105,6 +108,14 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
double counter2 = m_counter.get();
double pos2 = m_dutyCycle.getOutput();
if (counter == counter2 && pos == pos2) {
// map sensor range
if (pos < m_sensorMin) {
pos = m_sensorMin;
}
if (pos > m_sensorMax) {
pos = m_sensorMax;
}
pos = (pos - m_sensorMin) / (m_sensorMax - m_sensorMin);
double position = counter + pos - m_positionOffset;
m_lastPosition = position;
return position;
@@ -129,6 +140,22 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
return m_positionOffset;
}
/**
* Set the encoder duty cycle range. As the encoder needs to maintain a duty cycle, the duty cycle
* cannot go all the way to 0% or all the way to 100%. For example, an encoder with a 4096 us
* period might have a minimum duty cycle of 1 us / 4096 us and a maximum duty cycle of 4095 /
* 4096 us. Setting the range will result in an encoder duty cycle less than or equal to the
* minimum being output as 0 rotation, the duty cycle greater than or equal to the maximum being
* output as 1 rotation, and values in between linearly scaled from 0 to 1.
*
* @param min minimum duty cycle (0-1 range)
* @param max maximum duty cycle (0-1 range)
*/
public void setDutyCycleRange(double min, double max) {
m_sensorMin = MathUtil.clamp(min, 0.0, 1.0);
m_sensorMax = MathUtil.clamp(max, 0.0, 1.0);
}
/**
* Set the distance per rotation of the encoder. This sets the multiplier used to determine the
* distance driven based on the rotation value from the encoder. Set this value based on the how