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wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/PWM.h"
+
+#include <utility>
+
+#include <hal/HALBase.h>
+#include <hal/PWM.h>
+#include <hal/Ports.h>
+#include <hal/UsageReporting.h>
+#include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
+
+#include "frc/Errors.h"
+#include "frc/SensorUtil.h"
+
+using namespace frc;
+
+PWM::PWM(int channel, bool registerSendable) {
+  if (!SensorUtil::CheckPWMChannel(channel)) {
+    throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
+  }
+
+  auto stack = wpi::GetStackTrace(1);
+  int32_t status = 0;
+  m_handle = HAL_InitializePWMPort(channel, stack.c_str(), &status);
+  FRC_CheckErrorStatus(status, "Channel {}", channel);
+
+  m_channel = channel;
+
+  SetDisabled();
+
+  HAL_ReportUsage("IO", channel, "PWM");
+  if (registerSendable) {
+    wpi::SendableRegistry::Add(this, "PWM", channel);
+  }
+}
+
+PWM::~PWM() {
+  if (m_handle != HAL_kInvalidHandle) {
+    SetDisabled();
+  }
+}
+
+void PWM::SetPulseTime(units::microsecond_t time) {
+  int32_t status = 0;
+  HAL_SetPWMPulseTimeMicroseconds(m_handle, time.value(), &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+}
+
+units::microsecond_t PWM::GetPulseTime() const {
+  int32_t status = 0;
+  double value = HAL_GetPWMPulseTimeMicroseconds(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+
+  return units::microsecond_t{value};
+}
+
+void PWM::SetDisabled() {
+  int32_t status = 0;
+  HAL_SetPWMPulseTimeMicroseconds(m_handle, 0, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+}
+
+void PWM::SetOutputPeriod(OutputPeriod mult) {
+  int32_t status = 0;
+
+  switch (mult) {
+    case kOutputPeriod_20Ms:
+      HAL_SetPWMOutputPeriod(m_handle, 3,
+                             &status);  // Squelch 3 out of 4 outputs
+      break;
+    case kOutputPeriod_10Ms:
+      HAL_SetPWMOutputPeriod(m_handle, 1,
+                             &status);  // Squelch 1 out of 2 outputs
+      break;
+    case kOutputPeriod_5Ms:
+      HAL_SetPWMOutputPeriod(m_handle, 0,
+                             &status);  // Don't squelch any outputs
+      break;
+    default:
+      throw FRC_MakeError(err::InvalidParameter, "OutputPeriod value {}",
+                          static_cast<int>(mult));
+  }
+
+  FRC_CheckErrorStatus(status, "Channel {}", m_channel);
+}
+
+int PWM::GetChannel() const {
+  return m_channel;
+}
+
+void PWM::SetSimDevice(HAL_SimDeviceHandle device) {
+  HAL_SetPWMSimDevice(m_handle, device);
+}
+
+void PWM::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("PWM");
+  builder.SetActuator(true);
+  builder.AddDoubleProperty(
+      "Value", [=, this] { return GetPulseTime().value(); },
+      [=, this](double value) { SetPulseTime(units::millisecond_t{value}); });
+}