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Fixed FRCSim artf2599.

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Made the wpilibC++Sim codebase's motor control as
similar to the wpilibC++ motor control as possible.

Change-Id: I5510d952cb40c4a3def210f46a566d7102d604ee
This commit is contained in:
Colby Skeggs
2014-07-02 15:16:20 -07:00
parent 65c3c0ba09
commit 5ddacb43c1
13 changed files with 775 additions and 45 deletions
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24
wpilibc/wpilibC++Sim/src/Jaguar.cpp
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@@ -6,35 +6,36 @@
#include "Jaguar.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "LiveWindow/LiveWindow.h"
/**
* Common initialization code called by all constructors.
*/
void Jaguar::InitJaguar(int channel)
void Jaguar::InitJaguar()
{
/*
* Input profile defined by Luminary Micro.
*
*
* Full reverse ranges from 0.671325ms to 0.6972211ms
* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
* Neutral ranges from 1.4482078ms to 1.5517922ms
* Proportional forward ranges from 1.5517922ms to 2.3027789ms
* Full forward ranges from 2.3027789ms to 2.328675ms
*/
char buffer[50];
int n = sprintf(buffer, "pwm/1/%d", channel);
impl = new SimContinuousOutput(buffer);
SetBounds(2.31, 1.55, 1.507, 1.454, .697);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
// TODO: LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
}
/**
* @param channel The PWM channel that the Jaguar is attached to.
*/
Jaguar::Jaguar(uint32_t channel)
Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
{
InitJaguar(channel);
InitJaguar();
}
Jaguar::~Jaguar()
@@ -52,7 +53,7 @@ Jaguar::~Jaguar()
*/
void Jaguar::Set(float speed, uint8_t syncGroup)
{
impl->Set(speed);
SetSpeed(speed);
}
/**
@@ -62,7 +63,7 @@ void Jaguar::Set(float speed, uint8_t syncGroup)
*/
float Jaguar::Get()
{
return impl->Get();
return GetSpeed();
}
/**
@@ -70,7 +71,7 @@ float Jaguar::Get()
*/
void Jaguar::Disable()
{
impl->Set(0);
SetRaw(kPwmDisabled);
}
/**
@@ -82,4 +83,3 @@ void Jaguar::PIDWrite(float output)
{
Set(output);
}