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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/Victor.cpp
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@@ -6,6 +6,7 @@
#include "Victor.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "LiveWindow/LiveWindow.h"
/**
@@ -23,20 +24,21 @@
* - 125 = the "low end" of the deadband range
* - 56 = full "reverse"
*/
void Victor::InitVictor(int channel) {
char buffer[50];
int n = sprintf(buffer, "pwm/1/%d", channel);
impl = new SimContinuousOutput(buffer);
void Victor::InitVictor() {
SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
// TODO: LiveWindow::GetInstance()->AddActuator("Victor", slot, channel, this);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
}
/**
* @param channel The PWM channel that the Victor is attached to.
*/
Victor::Victor(uint32_t channel)
Victor::Victor(uint32_t channel) : SafePWM(channel)
{
InitVictor(channel);
InitVictor();
}
Victor::~Victor()
@@ -48,13 +50,13 @@ Victor::~Victor()
*
* The PWM value is set using a range of -1.0 to 1.0, appropriately
* scaling the value for the FPGA.
*
*
* @param speed The speed value between -1.0 and 1.0 to set.
* @param syncGroup Unused interface.
*/
void Victor::Set(float speed, uint8_t syncGroup)
{
impl->Set(speed);
SetSpeed(speed);
}
/**
@@ -64,7 +66,7 @@ void Victor::Set(float speed, uint8_t syncGroup)
*/
float Victor::Get()
{
return impl->Get();
return GetSpeed();
}
/**
@@ -72,7 +74,7 @@ float Victor::Get()
*/
void Victor::Disable()
{
impl->Set(0);
SetRaw(kPwmDisabled);
}
/**