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[wpilib] Add DeadbandElimination forwarding to PWMMotorController (#3714)

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This commit is contained in:
sciencewhiz
2021-11-09 21:24:47 -08:00
committed by GitHub
parent 3be0c1217a
commit 4d78def31e
3 changed files with 25 additions and 0 deletions
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4
wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp
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@@ -42,6 +42,10 @@ int PWMMotorController::GetChannel() const {
return m_pwm.GetChannel();
}
void PWMMotorController::EnableDeadbandElimination(bool eliminateDeadband) {
m_pwm.EnableDeadbandElimination(eliminateDeadband);
}
PWMMotorController::PWMMotorController(std::string_view name, int channel)
: m_pwm(channel, false) {
wpi::SendableRegistry::AddLW(this, name, channel);

10
wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h
View File

@@ -61,6 +61,16 @@ class PWMMotorController : public MotorController,
int GetChannel() const;
/**
* Optionally eliminate the deadband from a motor controller.
*
* @param eliminateDeadband If true, set the motor curve on the speed
* controller to eliminate the deadband in the middle
* of the range. Otherwise, keep the full range
* without modifying any values.
*/
void EnableDeadbandElimination(bool eliminateDeadband);
protected:
/**
* Constructor for a PWM Motor %Controller connected via PWM.