mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-26 01:51:41 +00:00
Switches PWMs to do scaling at the HAL level. (#143)
This commit is contained in:
Thad House
committed by
Peter Johnson
Peter Johnson
parent
be2647d44e
commit
5ad28d58ec
@@ -13,11 +13,6 @@
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#include <sstream>
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constexpr float PWM::kDefaultPwmPeriod;
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constexpr float PWM::kDefaultPwmCenter;
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const int32_t PWM::kDefaultPwmStepsDown;
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const int32_t PWM::kPwmDisabled;
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/**
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* Allocate a PWM given a channel number.
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*
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@@ -43,14 +38,16 @@ PWM::PWM(uint32_t channel) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_channel = std::numeric_limits<uint32_t>::max();
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m_handle = HAL_INVALID_HANDLE;
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return;
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}
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m_channel = channel;
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setPWM(m_handle, kPwmDisabled, &status);
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setPWMDisabled(m_handle, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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status = 0;
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setPWMEliminateDeadband(m_handle, false, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_eliminateDeadband = false;
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HALReport(HALUsageReporting::kResourceType_PWM, channel);
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}
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@@ -63,7 +60,7 @@ PWM::PWM(uint32_t channel) {
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PWM::~PWM() {
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int32_t status = 0;
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setPWM(m_handle, kPwmDisabled, &status);
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setPWMDisabled(m_handle, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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freePWMPort(m_handle, &status);
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@@ -82,30 +79,9 @@ PWM::~PWM() {
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*/
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void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
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if (StatusIsFatal()) return;
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m_eliminateDeadband = eliminateDeadband;
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}
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/**
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* Set the bounds on the PWM values.
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*
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* This sets the bounds on the PWM values for a particular each type of
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* controller. The values determine the upper and lower speeds as well as the
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* deadband bracket.
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*
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* @param max The Minimum pwm value
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* @param deadbandMax The high end of the deadband range
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* @param center The center speed (off)
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* @param deadbandMin The low end of the deadband range
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* @param min The minimum pwm value
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*/
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void PWM::SetBounds(int32_t max, int32_t deadbandMax, int32_t center,
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int32_t deadbandMin, int32_t min) {
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if (StatusIsFatal()) return;
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m_maxPwm = max;
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m_deadbandMaxPwm = deadbandMax;
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m_centerPwm = center;
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m_deadbandMinPwm = deadbandMin;
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m_minPwm = min;
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int32_t status = 0;
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setPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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@@ -123,24 +99,53 @@ void PWM::SetBounds(int32_t max, int32_t deadbandMax, int32_t center,
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*/
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void PWM::SetBounds(double max, double deadbandMax, double center,
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double deadbandMin, double min) {
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// calculate the loop time in milliseconds
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int32_t status = 0;
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double loopTime =
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getLoopTiming(&status) / (HAL_getSystemClockTicksPerMicrosecond() * 1e3);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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if (StatusIsFatal()) return;
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int32_t status = 0;
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setPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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m_maxPwm = (int32_t)((max - kDefaultPwmCenter) / loopTime +
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kDefaultPwmStepsDown - 1);
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m_deadbandMaxPwm = (int32_t)((deadbandMax - kDefaultPwmCenter) / loopTime +
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kDefaultPwmStepsDown - 1);
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m_centerPwm = (int32_t)((center - kDefaultPwmCenter) / loopTime +
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kDefaultPwmStepsDown - 1);
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m_deadbandMinPwm = (int32_t)((deadbandMin - kDefaultPwmCenter) / loopTime +
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kDefaultPwmStepsDown - 1);
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m_minPwm = (int32_t)((min - kDefaultPwmCenter) / loopTime +
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kDefaultPwmStepsDown - 1);
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/**
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* Set the bounds on the PWM values.
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*
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* This sets the bounds on the PWM values for a particular each type of
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* controller. The values determine the upper and lower speeds as well as the
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* deadband bracket.
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*
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* @param max The Minimum pwm value
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* @param deadbandMax The high end of the deadband range
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* @param center The center speed (off)
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* @param deadbandMin The low end of the deadband range
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* @param min The minimum pwm value
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*/
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void PWM::SetRawBounds(int32_t max, int32_t deadbandMax, int32_t center,
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int32_t deadbandMin, int32_t min) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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setPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
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&status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Get the bounds on the PWM values.
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*
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* This Gets the bounds on the PWM values for a particular each type of
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* controller. The values determine the upper and lower speeds as well as the
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* deadband bracket.
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*
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* @param max The Minimum pwm value
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* @param deadbandMax The high end of the deadband range
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* @param center The center speed (off)
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* @param deadbandMin The low end of the deadband range
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* @param min The minimum pwm value
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*/
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void PWM::GetRawBounds(int32_t* max, int32_t* deadbandMax, int32_t* center,
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int32_t* deadbandMin, int32_t* min) {
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int32_t status = 0;
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getPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
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&status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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@@ -155,21 +160,9 @@ void PWM::SetBounds(double max, double deadbandMax, double center,
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*/
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void PWM::SetPosition(float pos) {
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if (StatusIsFatal()) return;
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if (pos < 0.0) {
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pos = 0.0;
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} else if (pos > 1.0) {
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pos = 1.0;
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}
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// note, need to perform the multiplication below as floating point before
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// converting to int
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unsigned short rawValue =
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(int32_t)((pos * (float)GetFullRangeScaleFactor()) + GetMinNegativePwm());
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wpi_assert(rawValue != kPwmDisabled);
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// send the computed pwm value to the FPGA
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SetRaw((unsigned short)rawValue);
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int32_t status = 0;
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setPWMPosition(m_handle, pos, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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@@ -184,15 +177,10 @@ void PWM::SetPosition(float pos) {
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*/
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float PWM::GetPosition() const {
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if (StatusIsFatal()) return 0.0;
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int32_t value = GetRaw();
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if (value < GetMinNegativePwm()) {
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return 0.0;
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} else if (value > GetMaxPositivePwm()) {
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return 1.0;
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} else {
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return (float)(value - GetMinNegativePwm()) /
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(float)GetFullRangeScaleFactor();
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}
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int32_t status = 0;
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float position = getPWMPosition(m_handle, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return position;
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}
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/**
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@@ -210,32 +198,9 @@ float PWM::GetPosition() const {
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*/
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void PWM::SetSpeed(float speed) {
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if (StatusIsFatal()) return;
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// clamp speed to be in the range 1.0 >= speed >= -1.0
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if (speed < -1.0) {
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speed = -1.0;
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} else if (speed > 1.0) {
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speed = 1.0;
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}
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// calculate the desired output pwm value by scaling the speed appropriately
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int32_t rawValue;
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if (speed == 0.0) {
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rawValue = GetCenterPwm();
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} else if (speed > 0.0) {
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rawValue = (int32_t)(speed * ((float)GetPositiveScaleFactor()) +
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((float)GetMinPositivePwm()) + 0.5);
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} else {
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rawValue = (int32_t)(speed * ((float)GetNegativeScaleFactor()) +
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((float)GetMaxNegativePwm()) + 0.5);
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}
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// the above should result in a pwm_value in the valid range
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wpi_assert((rawValue >= GetMinNegativePwm()) &&
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(rawValue <= GetMaxPositivePwm()));
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wpi_assert(rawValue != kPwmDisabled);
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// send the computed pwm value to the FPGA
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SetRaw(rawValue);
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int32_t status = 0;
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setPWMSpeed(m_handle, speed, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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@@ -252,22 +217,10 @@ void PWM::SetSpeed(float speed) {
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*/
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float PWM::GetSpeed() const {
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if (StatusIsFatal()) return 0.0;
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int32_t value = GetRaw();
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if (value == PWM::kPwmDisabled) {
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return 0.0;
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} else if (value > GetMaxPositivePwm()) {
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return 1.0;
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} else if (value < GetMinNegativePwm()) {
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return -1.0;
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} else if (value > GetMinPositivePwm()) {
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return (float)(value - GetMinPositivePwm()) /
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(float)GetPositiveScaleFactor();
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} else if (value < GetMaxNegativePwm()) {
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return (float)(value - GetMaxNegativePwm()) /
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(float)GetNegativeScaleFactor();
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} else {
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return 0.0;
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}
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int32_t status = 0;
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float speed = getPWMSpeed(m_handle, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return speed;
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}
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/**
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@@ -281,7 +234,7 @@ void PWM::SetRaw(unsigned short value) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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setPWM(m_handle, value, &status);
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setPWMRaw(m_handle, value, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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@@ -296,7 +249,7 @@ unsigned short PWM::GetRaw() const {
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if (StatusIsFatal()) return 0;
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int32_t status = 0;
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unsigned short value = getPWM(m_handle, &status);
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unsigned short value = getPWMRaw(m_handle, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return value;
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@@ -329,6 +282,19 @@ void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Temporarily disables the PWM output. The next set call will reenable
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* the output.
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*/
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void PWM::SetDisabled() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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setPWMDisabled(m_handle, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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void PWM::SetZeroLatch() {
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if (StatusIsFatal()) return;
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