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PWM: Use getRaw and setRaw for Sendable "Value" property. (#963)

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Also change type to "PWM".  Move old PWM Sendable behavior for both value
and type to PWMSpeedController.
This commit is contained in:
Peter Johnson
2018-03-03 21:36:25 -08:00
committed by GitHub
parent 9d7293734a
commit 5175829bab
5 changed files with 24 additions and 5 deletions
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6
wpilibc/src/main/native/cpp/PWM.cpp
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@@ -311,8 +311,8 @@ void PWM::SetZeroLatch() {
}
void PWM::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Speed Controller");
builder.SetSmartDashboardType("PWM");
builder.SetSafeState([=]() { SetDisabled(); });
builder.AddDoubleProperty("Value", [=]() { return GetSpeed(); },
[=](double value) { SetSpeed(value); });
builder.AddDoubleProperty("Value", [=]() { return GetRaw(); },
[=](double value) { SetRaw(value); });
}

9
wpilibc/src/main/native/cpp/PWMSpeedController.cpp
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@@ -7,6 +7,8 @@
#include "PWMSpeedController.h"
#include "SmartDashboard/SendableBuilder.h"
using namespace frc;
/**
@@ -52,3 +54,10 @@ void PWMSpeedController::StopMotor() { SafePWM::StopMotor(); }
* @param output Write out the PWM value as was found in the PIDController
*/
void PWMSpeedController::PIDWrite(double output) { Set(output); }
void PWMSpeedController::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Speed Controller");
builder.SetSafeState([=]() { SetDisabled(); });
builder.AddDoubleProperty("Value", [=]() { return GetSpeed(); },
[=](double value) { SetSpeed(value); });
}

1
wpilibc/src/main/native/include/PWMSpeedController.h
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@@ -28,6 +28,7 @@ class PWMSpeedController : public SafePWM, public SpeedController {
protected:
explicit PWMSpeedController(int channel);
void InitSendable(SendableBuilder& builder) override;
private:
bool m_isInverted = false;

4
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
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@@ -244,8 +244,8 @@ public class PWM extends SendableBase implements Sendable {
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Speed Controller");
builder.setSmartDashboardType("PWM");
builder.setSafeState(this::setDisabled);
builder.addDoubleProperty("Value", this::getSpeed, this::setSpeed);
builder.addDoubleProperty("Value", this::getRaw, value -> setRaw((int) value));
}
}

9
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java
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@@ -7,6 +7,8 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
/**
* Common base class for all PWM Speed Controllers.
*/
@@ -66,4 +68,11 @@ public abstract class PWMSpeedController extends SafePWM implements SpeedControl
public void pidWrite(double output) {
set(output);
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Speed Controller");
builder.setSafeState(this::setDisabled);
builder.addDoubleProperty("Value", this::getSpeed, this::setSpeed);
}
}