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Implement PCM One Shot feature. Fixes artf4731 (#539)

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This commit is contained in:
sciencewhiz
2017-11-26 12:55:21 -08:00
committed by Peter Johnson
parent a338ee8be0
commit 7a250a1b93
11 changed files with 297 additions and 1 deletions
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21
hal/src/main/native/athena/Solenoid.cpp
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@@ -154,4 +154,25 @@ void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status) {
*status = PCM_modules[module]->ClearStickyFaults();
}
void HAL_SetOneShotDuration(HAL_SolenoidHandle solenoidPortHandle,
int32_t durMS, int32_t* status) {
auto port = solenoidHandles.Get(solenoidPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
*status =
PCM_modules[port->module]->SetOneShotDurationMs(port->channel, durMS);
}
void HAL_FireOneShot(HAL_SolenoidHandle solenoidPortHandle, int32_t* status) {
auto port = solenoidHandles.Get(solenoidPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
*status = PCM_modules[port->module]->FireOneShotSolenoid(port->channel);
}
} // extern "C"

4
hal/src/main/native/athena/ctre/PCM.cpp
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@@ -213,7 +213,9 @@ CTR_Code PCM::FireOneShotSolenoid(UINT8 idx)
return CTR_OKAY;
}
/* Configure the pulse width of a solenoid channel for one-shot pulse.
* Preprogrammed pulsewidth is 10ms resolute and can be between 20ms and 5.1s.
* Preprogrammed pulsewidth is 10ms resolution and can be between 10ms and
* 2.55s.
*
* @Return - CTR_Code - Error code (if any)
* @Param - idx - ID of solenoid [0,7] to configure.
* @Param - durMs - pulse width in ms.

3
hal/src/main/native/include/HAL/Solenoid.h
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@@ -30,6 +30,9 @@ int32_t HAL_GetPCMSolenoidBlackList(int32_t module, int32_t* status);
HAL_Bool HAL_GetPCMSolenoidVoltageStickyFault(int32_t module, int32_t* status);
HAL_Bool HAL_GetPCMSolenoidVoltageFault(int32_t module, int32_t* status);
void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status);
void HAL_SetOneShotDuration(HAL_SolenoidHandle solenoidPortHandle,
int32_t durMS, int32_t* status);
void HAL_FireOneShot(HAL_SolenoidHandle solenoidPortHandle, int32_t* status);
#ifdef __cplusplus
} // extern "C"
#endif

3
hal/src/main/native/sim/Solenoid.cpp
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@@ -117,4 +117,7 @@ HAL_Bool HAL_GetPCMSolenoidVoltageFault(int32_t module, int32_t* status) {
return 0;
}
void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status) {}
void HAL_SetOneShotDuration(HAL_SolenoidHandle solenoidPortHandle,
int32_t durMS, int32_t* status) {}
void HAL_FireOneShot(HAL_SolenoidHandle solenoidPortHandle, int32_t* status) {}
} // extern "C"