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[hal] Fix and document addressable LED timings (#5272)

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HAL_SetAddressableLEDBitTiming swapped high and low timings for whatever
was written to it. This fixes that bug.

Additionally, the API has been updated to take high time first, and then
low time. This is due to this being the physical data format, so having
the API match is clearer.

Additionally, update the docs with the defaults.
This commit is contained in:
Thad House
2023-04-28 20:54:58 -07:00
committed by GitHub
parent 90fabe9651
commit 5162d0001c
8 changed files with 50 additions and 45 deletions
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25
wpilibc/src/main/native/include/frc/AddressableLED.h
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@@ -17,7 +17,10 @@
namespace frc {
/**
* A class for driving addressable LEDs, such as WS2812s and NeoPixels.
* A class for driving addressable LEDs, such as WS2812Bs and NeoPixels.
*
* By default, the timing supports WS2812B LEDs, but is configurable using
* SetBitTiming()
*
* <p>Only 1 LED driver is currently supported by the roboRIO.
*/
@@ -122,25 +125,25 @@ class AddressableLED {
/**
* Sets the bit timing.
*
* <p>By default, the driver is set up to drive WS2812s, so nothing needs to
* <p>By default, the driver is set up to drive WS2812Bs, so nothing needs to
* be set for those.
*
* @param lowTime0 low time for 0 bit
* @param highTime0 high time for 0 bit
* @param lowTime1 low time for 1 bit
* @param highTime1 high time for 1 bit
* @param highTime0 high time for 0 bit (default 400ns)
* @param lowTime0 low time for 0 bit (default 900ns)
* @param highTime1 high time for 1 bit (default 900ns)
* @param lowTime1 low time for 1 bit (default 600ns)
*/
void SetBitTiming(units::nanosecond_t lowTime0, units::nanosecond_t highTime0,
units::nanosecond_t lowTime1,
units::nanosecond_t highTime1);
void SetBitTiming(units::nanosecond_t highTime0, units::nanosecond_t lowTime0,
units::nanosecond_t highTime1,
units::nanosecond_t lowTime1);
/**
* Sets the sync time.
*
* <p>The sync time is the time to hold output so LEDs enable. Default set for
* WS2812.
* WS2812B.
*
* @param syncTime the sync time
* @param syncTime the sync time (default 280us)
*/
void SetSyncTime(units::microsecond_t syncTime);