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[hal] Update SmartIO PWM implementation (#7571)

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* Integer microsecond setters and getters
* Per-port subtables
This commit is contained in:
hjelstromboli
2024-12-22 11:45:44 -08:00
committed by GitHub
parent 529bab6ca1
commit 78b14c5204
2 changed files with 13 additions and 22 deletions
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24
hal/src/main/native/systemcore/SmartIo.cpp
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@@ -30,24 +30,19 @@ int32_t SmartIo::InitializeMode(SmartIoMode mode) {
options.periodic = 0.005;
auto channelString = std::to_string(channel);
auto subTableString = "/io/" + channelString + "/";
modePublisher = inst.GetDoubleTopic("/io/type" + channelString).Publish();
getSubscriber = inst.GetDoubleTopic("/io/valread" + channelString)
.Subscribe(0.0, options);
modePublisher = inst.GetIntegerTopic(subTableString + "type").Publish();
getSubscriber =
inst.GetIntegerTopic(subTableString + "valget").Subscribe(0.0, options);
currentMode = mode;
switch (mode) {
case SmartIoMode::PWMOutput:
modePublisher.Set(3);
modePublisher.Set(4);
setPublisher =
inst.GetDoubleTopic("/io/valset" + channelString).Publish(options);
inst.GetIntegerTopic(subTableString + "valset").Publish(options);
setPublisher.Set(0);
pwmMinPublisher =
inst.GetDoubleTopic("/io/pwmmin" + channelString).Publish();
pwmMinPublisher.Set(0);
pwmMaxPublisher =
inst.GetDoubleTopic("/io/pwmmax" + channelString).Publish();
pwmMaxPublisher.Set(4096);
return 0;
default:
@@ -67,8 +62,7 @@ int32_t SmartIo::SetPwmMicroseconds(uint16_t microseconds) {
microseconds = 4095;
}
// Scale from 0-4096 to 0.0-2.0, then to -1.0-1.0
setPublisher.Set((microseconds / 2048.0) - 1);
setPublisher.Set(microseconds);
return 0;
}
@@ -78,10 +72,10 @@ int32_t SmartIo::GetPwmMicroseconds(uint16_t* microseconds) {
return INCOMPATIBLE_STATE;
}
double val = getSubscriber.Get();
int val = getSubscriber.Get();
// Get to 0-2, then scale to 0-4096;
*microseconds = (val + 1) * 2048;
*microseconds = val;
return 0;
}