Switches PWMs to do scaling at the HAL level. (#143)

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Jaguar.java

@@ -37,7 +37,7 @@ public class Jaguar extends PWMSpeedController {
      */
     setBounds(2.31, 1.55, 1.507, 1.454, .697);
     setPeriodMultiplier(PeriodMultiplier.k1X);
-    setRaw(m_centerPwm);
+    setSpeed(0.0);
     setZeroLatch();
 
     UsageReporting.report(tResourceType.kResourceType_Jaguar, getChannel());

wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWM.java

@@ -63,40 +63,6 @@ public class PWM extends SensorBase implements LiveWindowSendable {
   private int m_channel;
   private int m_handle;
 
-  /**
-   * kDefaultPwmPeriod is in ms.
-   *
-   * <p>- 20ms periods (50 Hz) are the "safest" setting in that this works for all devices - 20ms
-   * periods seem to be desirable for Vex Motors - 20ms periods are the specified period for
-   * HS-322HD servos, but work reliably down to 10.0 ms; starting at about 8.5ms, the servo
-   * sometimes hums and get hot; by 5.0ms the hum is nearly continuous - 10ms periods work well for
-   * Victor 884 - 5ms periods allows higher update rates for Luminary Micro Jaguar speed
-   * controllers. Due to the shipping firmware on the Jaguar, we can't run the update period less
-   * than 5.05 ms.
-   *
-   * <p>kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period scaling is implemented
-   * as an output squelch to get longer periods for old devices.
-   */
-  protected static final double kDefaultPwmPeriod = 5.05;
-  /**
-   * kDefaultPwmCenter is the PWM range center in ms.
-   */
-  protected static final double kDefaultPwmCenter = 1.5;
-  /**
-   * kDefaultPWMStepsDown is the number of PWM steps below the centerpoint.
-   */
-  protected static final int kDefaultPwmStepsDown = 1000;
-  public static final int kPwmDisabled = 0;
-  private boolean m_eliminateDeadband;
-  private int m_maxPwm;
-  private int m_deadbandMaxPwm;
-  /*
-   * Intentionally package private
-   */
-  int m_centerPwm;
-  private int m_deadbandMinPwm;
-  private int m_minPwm;
-
   /**
    * Allocate a PWM given a channel.
    *
@@ -108,9 +74,9 @@ public class PWM extends SensorBase implements LiveWindowSendable {
 
     m_handle = PWMJNI.initializePWMPort(DIOJNI.getPort((byte) channel));
 
-    PWMJNI.setPWM(m_handle, (short) 0);
+    setDisabled();
 
-    m_eliminateDeadband = false;
+    PWMJNI.setPWMEliminateDeadband(m_handle, false);
 
     UsageReporting.report(tResourceType.kResourceType_PWM, channel);
   }
@@ -124,7 +90,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
     if (m_handle == 0) {
       return;
     }
-    PWMJNI.setPWM(m_handle, (short) 0);
+    setDisabled();
     PWMJNI.freePWMPort(m_handle);
     m_handle = 0;
   }
@@ -137,7 +103,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
    *                          modifying any values.
    */
   public void enableDeadbandElimination(boolean eliminateDeadband) {
-    m_eliminateDeadband = eliminateDeadband;
+    PWMJNI.setPWMEliminateDeadband(m_handle, eliminateDeadband);
   }
 
   /**
@@ -154,13 +120,9 @@ public class PWM extends SensorBase implements LiveWindowSendable {
    * double, double)}
    */
   @Deprecated
-  public void setBounds(final int max, final int deadbandMax, final int center,
+  public void setRawBounds(final int max, final int deadbandMax, final int center,
                         final int deadbandMin, final int min) {
-    m_maxPwm = max;
-    m_deadbandMaxPwm = deadbandMax;
-    m_centerPwm = center;
-    m_deadbandMinPwm = deadbandMin;
-    m_minPwm = min;
+    PWMJNI.setPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMax, min);
   }
 
   /**
@@ -174,18 +136,18 @@ public class PWM extends SensorBase implements LiveWindowSendable {
    * @param deadbandMin The low end of the deadband pulse width in ms
    * @param min         The minimum pulse width in ms
    */
-  protected void setBounds(double max, double deadbandMax, double center, double deadbandMin,
+  public void setBounds(double max, double deadbandMax, double center, double deadbandMin,
                            double min) {
-    double loopTime =
-        DIOJNI.getLoopTiming() / (kSystemClockTicksPerMicrosecond * 1e3);
-
-    m_maxPwm = (int) ((max - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
-    m_deadbandMaxPwm =
-        (int) ((deadbandMax - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
-    m_centerPwm = (int) ((center - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
-    m_deadbandMinPwm =
-        (int) ((deadbandMin - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
-    m_minPwm = (int) ((min - kDefaultPwmCenter) / loopTime + kDefaultPwmStepsDown - 1);
+    PWMJNI.setPWMConfig(m_handle, max, deadbandMax, center, deadbandMax, min);
+  }
+  
+  /**
+   * Gets the bounds on the PWM pulse widths. This Gets the bounds on the PWM values for a
+   * particular type of controller. The values determine the upper and lower speeds as well
+   * as the deadband bracket.
+   */
+  public PWMConfigDataResult getRawBounds() {
+    return PWMJNI.getPWMConfigRaw(m_handle);
   }
 
   /**
@@ -207,19 +169,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
    * @pre SetMinNegativePwm() called.
    */
   public void setPosition(double pos) {
-    if (pos < 0.0) {
-      pos = 0.0;
-    } else if (pos > 1.0) {
-      pos = 1.0;
-    }
-
-    int rawValue;
-    // note, need to perform the multiplication below as floating point before
-    // converting to int
-    rawValue = (int) ((pos * (double) getFullRangeScaleFactor()) + getMinNegativePwm());
-
-    // send the computed pwm value to the FPGA
-    setRaw(rawValue);
+    PWMJNI.setPWMPosition(m_handle, (float)pos);
   }
 
   /**
@@ -232,14 +182,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
    * @pre SetMinNegativePwm() called.
    */
   public double getPosition() {
-    int value = getRaw();
-    if (value < getMinNegativePwm()) {
-      return 0.0;
-    } else if (value > getMaxPositivePwm()) {
-      return 1.0;
-    } else {
-      return (double) (value - getMinNegativePwm()) / (double) getFullRangeScaleFactor();
-    }
+    return PWMJNI.getPWMPosition(m_handle);
   }
 
   /**
@@ -254,30 +197,8 @@ public class PWM extends SensorBase implements LiveWindowSendable {
    * @pre SetMaxNegativePwm() called.
    * @pre SetMinNegativePwm() called.
    */
-  final void setSpeed(double speed) {
-    // clamp speed to be in the range 1.0 >= speed >= -1.0
-    if (speed < -1.0) {
-      speed = -1.0;
-    } else if (speed > 1.0) {
-      speed = 1.0;
-    }
-
-    // calculate the desired output pwm value by scaling the speed appropriately
-    int rawValue;
-    if (speed == 0.0) {
-      rawValue = getCenterPwm();
-    } else if (speed > 0.0) {
-      rawValue =
-          (int) (speed * ((double) getPositiveScaleFactor())
-              + ((double) getMinPositivePwm()) + 0.5);
-    } else {
-      rawValue =
-          (int) (speed * ((double) getNegativeScaleFactor())
-              + ((double) getMaxNegativePwm()) + 0.5);
-    }
-
-    // send the computed pwm value to the FPGA
-    setRaw(rawValue);
+  public void setSpeed(double speed) {
+    PWMJNI.setPWMSpeed(m_handle, (float)speed);
   }
 
   /**
@@ -292,18 +213,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
    * @pre SetMinNegativePwm() called.
    */
   public double getSpeed() {
-    int value = getRaw();
-    if (value > getMaxPositivePwm()) {
-      return 1.0;
-    } else if (value < getMinNegativePwm()) {
-      return -1.0;
-    } else if (value > getMinPositivePwm()) {
-      return (double) (value - getMinPositivePwm()) / (double) getPositiveScaleFactor();
-    } else if (value < getMaxNegativePwm()) {
-      return (double) (value - getMaxNegativePwm()) / (double) getNegativeScaleFactor();
-    } else {
-      return 0.0;
-    }
+    return PWMJNI.getPWMSpeed(m_handle);
   }
 
   /**
@@ -314,7 +224,7 @@ public class PWM extends SensorBase implements LiveWindowSendable {
    * @param value Raw PWM value. Range 0 - 255.
    */
   public void setRaw(int value) {
-    PWMJNI.setPWM(m_handle, (short) value);
+    PWMJNI.setPWMRaw(m_handle, (short) value);
   }
 
   /**
@@ -325,7 +235,15 @@ public class PWM extends SensorBase implements LiveWindowSendable {
    * @return Raw PWM control value. Range: 0 - 255.
    */
   public int getRaw() {
-    return PWMJNI.getPWM(m_handle);
+    return PWMJNI.getPWMRaw(m_handle);
+  }
+  
+  /**
+   * Temporarily disables the PWM output. The next set call will reenable
+   * the output.
+   */
+  public void setDisabled() {
+    PWMJNI.setPWMDisabled(m_handle);
   }
 
   /**
@@ -356,38 +274,6 @@ public class PWM extends SensorBase implements LiveWindowSendable {
     PWMJNI.latchPWMZero(m_handle);
   }
 
-  private int getMaxPositivePwm() {
-    return m_maxPwm;
-  }
-
-  private int getMinPositivePwm() {
-    return m_eliminateDeadband ? m_deadbandMaxPwm : m_centerPwm + 1;
-  }
-
-  private int getCenterPwm() {
-    return m_centerPwm;
-  }
-
-  private int getMaxNegativePwm() {
-    return m_eliminateDeadband ? m_deadbandMinPwm : m_centerPwm - 1;
-  }
-
-  private int getMinNegativePwm() {
-    return m_minPwm;
-  }
-
-  private int getPositiveScaleFactor() {
-    return getMaxPositivePwm() - getMinPositivePwm();
-  } // /< The scale for positive speeds.
-
-  private int getNegativeScaleFactor() {
-    return getMaxNegativePwm() - getMinNegativePwm();
-  } // /< The scale for negative speeds.
-
-  private int getFullRangeScaleFactor() {
-    return getMaxPositivePwm() - getMinNegativePwm();
-  } // /< The scale for positions.
-
   /*
    * Live Window code, only does anything if live window is activated.
    */

wpilibj/src/athena/java/edu/wpi/first/wpilibj/PWMConfigDataResult.java

@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+/**
+ * Structure for holding the config data result for PWM.
+ */
+public class PWMConfigDataResult {
+
+  PWMConfigDataResult(int max, int deadbandMax, int center, int deadbandMin, int min) {
+    this.max = max;
+    this.deadbandMax = deadbandMax;
+    this.center = center;
+    this.deadbandMin = deadbandMin;
+    this.min = min;
+  }
+  
+  /**
+   * The maximum PWM value.
+   */
+  @SuppressWarnings("MemberName")
+  public int max;
+  
+  /**
+   * The deadband maximum PWM value.
+   */
+  @SuppressWarnings("MemberName")
+  public int deadbandMax;
+  
+  /**
+   * The center PWM value.
+   */
+  @SuppressWarnings("MemberName")
+  public int center;
+  
+  /**
+   * The deadband minimum PWM value.
+   */
+  @SuppressWarnings("MemberName")
+  public int deadbandMin;
+  
+  /**
+   * The minimum PWM value.
+   */
+  @SuppressWarnings("MemberName")
+  public int min;
+}

wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java

@@ -32,7 +32,7 @@ public class SD540 extends PWMSpeedController {
   protected void initSD540() {
     setBounds(2.05, 1.55, 1.50, 1.44, .94);
     setPeriodMultiplier(PeriodMultiplier.k1X);
-    setRaw(m_centerPwm);
+    setSpeed(0.0);
     setZeroLatch();
 
     LiveWindow.addActuator("SD540", getChannel(), this);

wpilibj/src/athena/java/edu/wpi/first/wpilibj/SafePWM.java

@@ -90,6 +90,6 @@ public class SafePWM extends PWM implements MotorSafety {
   }
 
   public void disable() {
-    setRaw(kPwmDisabled);
+    setDisabled();
   }
 }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java

@@ -32,7 +32,7 @@ public class Spark extends PWMSpeedController {
   protected void initSpark() {
     setBounds(2.003, 1.55, 1.50, 1.46, .999);
     setPeriodMultiplier(PeriodMultiplier.k1X);
-    setRaw(m_centerPwm);
+    setSpeed(0.0);
     setZeroLatch();
 
     LiveWindow.addActuator("Spark", getChannel(), this);

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Talon.java

@@ -37,7 +37,7 @@ public class Talon extends PWMSpeedController {
 
     setBounds(2.037, 1.539, 1.513, 1.487, .989);
     setPeriodMultiplier(PeriodMultiplier.k1X);
-    setRaw(m_centerPwm);
+    setSpeed(0.0);
     setZeroLatch();
 
     LiveWindow.addActuator("Talon", getChannel(), this);

wpilibj/src/athena/java/edu/wpi/first/wpilibj/TalonSRX.java

@@ -40,7 +40,7 @@ public class TalonSRX extends PWMSpeedController {
 
     setBounds(2.004, 1.52, 1.50, 1.48, .997);
     setPeriodMultiplier(PeriodMultiplier.k1X);
-    setRaw(m_centerPwm);
+    setSpeed(0.0);
     setZeroLatch();
 
     LiveWindow.addActuator("TalonSRX", getChannel(), this);

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Victor.java

@@ -39,7 +39,7 @@ public class Victor extends PWMSpeedController {
 
     setBounds(2.027, 1.525, 1.507, 1.49, 1.026);
     setPeriodMultiplier(PeriodMultiplier.k2X);
-    setRaw(m_centerPwm);
+    setSpeed(0.0);
     setZeroLatch();
 
     LiveWindow.addActuator("Victor", getChannel(), this);

wpilibj/src/athena/java/edu/wpi/first/wpilibj/VictorSP.java

@@ -37,7 +37,7 @@ public class VictorSP extends PWMSpeedController {
 
     setBounds(2.004, 1.52, 1.50, 1.48, .997);
     setPeriodMultiplier(PeriodMultiplier.k1X);
-    setRaw(m_centerPwm);
+    setSpeed(0.0);
     setZeroLatch();
 
     LiveWindow.addActuator("VictorSP", getChannel(), this);

wpilibj/src/athena/java/edu/wpi/first/wpilibj/hal/PWMJNI.java

@@ -7,15 +7,41 @@
 
 package edu.wpi.first.wpilibj.hal;
 
+import edu.wpi.first.wpilibj.PWMConfigDataResult;
+
 @SuppressWarnings("AbbreviationAsWordInName")
 public class PWMJNI extends DIOJNI {
   public static native int initializePWMPort(int halPortHandle);
 
   public static native void freePWMPort(int pwmPortHandle);
+  
+  public static native void setPWMConfigRaw(int pwmPortHandle, int maxPwm, 
+                                            int deadbandMaxPwm, int centerPwm, 
+                                            int deadbandMinPwm, int minPwm);
+                                         
+  public static native void setPWMConfig(int pwmPortHandle, double maxPwm, 
+                                         double deadbandMaxPwm, double centerPwm, 
+                                         double deadbandMinPwm, double minPwm);
 
-  public static native void setPWM(int pwmPortHandle, short value);
+  public static native PWMConfigDataResult getPWMConfigRaw(int pwmPortHandle);
 
-  public static native short getPWM(int pwmPortHandle);
+  public static native void setPWMEliminateDeadband(int pwmPortHandle, boolean eliminateDeadband);
+
+  public static native boolean getPWMEliminateDeadband(int pwmPortHandle);
+
+  public static native void setPWMRaw(int pwmPortHandle, short value);
+  
+  public static native void setPWMSpeed(int pwmPortHandle, float speed);
+  
+  public static native void setPWMPosition(int pwmPortHandle, float position);
+
+  public static native short getPWMRaw(int pwmPortHandle);
+  
+  public static native float getPWMSpeed(int pwmPortHandle);
+  
+  public static native float getPWMPosition(int pwmPortHandle);
+  
+  public static native  void setPWMDisabled(int pwmPortHandle);
 
   public static native void latchPWMZero(int pwmPortHandle);