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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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21
wpilibc/wpilibC++Sim/src/Talon.cpp
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@@ -6,6 +6,7 @@
#include "Talon.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "LiveWindow/LiveWindow.h"
/**
@@ -22,20 +23,20 @@
* - 125 = the "low end" of the deadband range
* - 49 = full "reverse"
*/
void Talon::InitTalon(int channel) {
char buffer[50];
int n = sprintf(buffer, "pwm/1/%d", channel);
impl = new SimContinuousOutput(buffer);
void Talon::InitTalon() {
SetBounds(2.037, 1.539, 1.513, 1.487, .989);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
// TODO: LiveWindow::GetInstance()->AddActuator("Talon", slot, channel, this);
LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
}
/**
* @param channel The PWM channel that the Talon is attached to.
*/
Talon::Talon(uint32_t channel)
Talon::Talon(uint32_t channel) : SafePWM(channel)
{
InitTalon(channel);
InitTalon();
}
Talon::~Talon()
@@ -53,7 +54,7 @@ Talon::~Talon()
*/
void Talon::Set(float speed, uint8_t syncGroup)
{
impl->Set(speed);
SetSpeed(speed);
}
/**
@@ -63,7 +64,7 @@ void Talon::Set(float speed, uint8_t syncGroup)
*/
float Talon::Get()
{
return impl->Get();
return GetSpeed();
}
/**
@@ -71,7 +72,7 @@ float Talon::Get()
*/
void Talon::Disable()
{
impl->Set(0);
SetRaw(kPwmDisabled);
}
/**