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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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27
wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java
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@@ -24,6 +24,7 @@ public class NidecBrushless implements SpeedController, MotorSafety, LiveWindowS
private DigitalOutput m_dio;
private PWM m_pwm;
private volatile double m_speed = 0.0;
private volatile boolean m_disabled = false;
/**
* Constructor.
@@ -45,7 +46,6 @@ public class NidecBrushless implements SpeedController, MotorSafety, LiveWindowS
// the pwm enables the controller
m_pwm = new PWM(pwmChannel);
m_pwm.setRaw(0xffff);
LiveWindow.addActuator("Nidec Brushless", pwmChannel, this);
HAL.report(tResourceType.kResourceType_NidecBrushless, pwmChannel);
@@ -61,8 +61,11 @@ public class NidecBrushless implements SpeedController, MotorSafety, LiveWindowS
*/
@Override
public void 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();
}
@@ -129,10 +132,12 @@ public class NidecBrushless implements SpeedController, MotorSafety, LiveWindowS
/**
* 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.
* Calling set() will re-enable the motor.
*/
@Override
public void stopMotor() {
disable();
m_dio.updateDutyCycle(0.5);
m_pwm.setDisabled();
}
/**
@@ -155,9 +160,23 @@ public class NidecBrushless implements SpeedController, MotorSafety, LiveWindowS
return "Nidec " + getChannel();
}
/**
* Disable the motor. The enable() function must be called to re-enable
* the motor.
*/
@Override
public void 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.
*/
public void enable() {
m_disabled = false;
}
/**