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NidecBrushless: Have disable() call PWM.setDisabled(). (#763)

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This provides a way to stop motor operation even if the DIO is disconnected.

Also change Set() to enable the PWM instead of having the constructor do it.

Provide an explicit Enable() call to re-enable after Disable() is called.
This is different from the other motor controllers (which automatically
re-enable when Set() is called) due to the dual-wiring of this motor
controller.

Motor safety results in disabling the motor only until the next Set() call.
This commit is contained in:
Peter Johnson
2017-12-01 00:43:11 -08:00
committed by GitHub
parent 65a044f633
commit 7867e906e9
3 changed files with 53 additions and 12 deletions
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34
wpilibc/src/main/native/cpp/NidecBrushless.cpp
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@@ -30,9 +30,6 @@ NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
m_dio.SetPWMRate(15625);
m_dio.EnablePWM(0.5);
// the pwm enables the controller
m_pwm.SetRaw(0xffff);
LiveWindow::GetInstance()->AddActuator("Nidec Brushless", pwmChannel, this);
HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel);
}
@@ -46,8 +43,11 @@ NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
* @param speed The speed value between -1.0 and 1.0 to set.
*/
void NidecBrushless::Set(double speed) {
m_speed = speed;
m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
if (!m_disabled) {
m_speed = speed;
m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
m_pwm.SetRaw(0xffff);
}
m_safetyHelper.Feed();
}
@@ -97,9 +97,13 @@ bool NidecBrushless::IsAlive() const { return m_safetyHelper.IsAlive(); }
/**
* Stop the motor. This is called by the MotorSafetyHelper object when it has a
* timeout for this PWM and needs to stop it from running.
* timeout for this PWM and needs to stop it from running. Calling Set() will
* re-enable the motor.
*/
void NidecBrushless::StopMotor() { Disable(); }
void NidecBrushless::StopMotor() {
m_dio.UpdateDutyCycle(0.5);
m_pwm.SetDisabled();
}
/**
* Check if motor safety is enabled.
@@ -118,7 +122,21 @@ void NidecBrushless::GetDescription(llvm::raw_ostream& desc) const {
desc << "Nidec " << GetChannel();
}
void NidecBrushless::Disable() { m_dio.UpdateDutyCycle(0.5); }
/**
* Disable the motor. The Enable() function must be called to re-enable
* the motor.
*/
void NidecBrushless::Disable() {
m_disabled = true;
m_dio.UpdateDutyCycle(0.5);
m_pwm.SetDisabled();
}
/**
* Re-enable the motor after Disable() has been called. The Set()
* function must be called to set a new motor speed.
*/
void NidecBrushless::Enable() { m_disabled = false; }
/**
* Gets the channel number associated with the object.