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Major formatting changes (breaks diffs). No code changes.

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The changes made in this commit do not affect any actual code,
    they are purely aesthetic. I ran clang-format with google style
    over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
    or gtest, and the eclipse formatter over all of the Java files
    using the Google eclipse formatting configuration.

Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
This commit is contained in:
James Kuszmaul
2015-06-25 15:07:55 -04:00
parent bd64d9a7ef
commit 7eb8550bdb
470 changed files with 89798 additions and 77287 deletions
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79
wpilibc/wpilibC++Devices/src/Jaguar.cpp
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@@ -1,10 +1,10 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved. */
/* Copyright (c) FIRST 2008. All Rights Reserved.
*/
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
/*----------------------------------------------------------------------------*/
#include "Jaguar.h"
//#include "NetworkCommunication/UsageReporting.h"
#include "LiveWindow/LiveWindow.h"
@@ -12,39 +12,34 @@
/**
* Common initialization code called by all constructors.
*/
void Jaguar::InitJaguar()
{
/**
* Input profile defined by Luminary Micro.
*
* Full reverse ranges from 0.671325ms to 0.6972211ms
* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
* Neutral ranges from 1.4482078ms to 1.5517922ms
* Proportional forward ranges from 1.5517922ms to 2.3027789ms
* Full forward ranges from 2.3027789ms to 2.328675ms
*/
SetBounds(2.31, 1.55, 1.507, 1.454, .697);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
SetZeroLatch();
void Jaguar::InitJaguar() {
/**
* Input profile defined by Luminary Micro.
*
* Full reverse ranges from 0.671325ms to 0.6972211ms
* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
* Neutral ranges from 1.4482078ms to 1.5517922ms
* Proportional forward ranges from 1.5517922ms to 2.3027789ms
* Full forward ranges from 2.3027789ms to 2.328675ms
*/
SetBounds(2.31, 1.55, 1.507, 1.454, .697);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
SetZeroLatch();
HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel());
LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
m_isInverted = false;
HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel());
LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
m_isInverted = false;
}
/**
* Constructor for a Jaguar connected via PWM
* @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19 are on the MXP port
* @param channel The PWM channel that the Jaguar is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
{
InitJaguar();
}
Jaguar::Jaguar(uint32_t channel) : SafePWM(channel) { InitJaguar(); }
Jaguar::~Jaguar()
{
}
Jaguar::~Jaguar() {}
/**
* Set the PWM value.
@@ -55,9 +50,8 @@ Jaguar::~Jaguar()
* @param speed The speed value between -1.0 and 1.0 to set.
* @param syncGroup Unused interface.
*/
void Jaguar::Set(float speed, uint8_t syncGroup)
{
SetSpeed(m_isInverted ? -speed : speed);
void Jaguar::Set(float speed, uint8_t syncGroup) {
SetSpeed(m_isInverted ? -speed : speed);
}
/**
@@ -65,26 +59,18 @@ void Jaguar::Set(float speed, uint8_t syncGroup)
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
float Jaguar::Get() const
{
return GetSpeed();
}
float Jaguar::Get() const { return GetSpeed(); }
/**
* Common interface for disabling a motor.
*/
void Jaguar::Disable()
{
SetRaw(kPwmDisabled);
}
void Jaguar::Disable() { SetRaw(kPwmDisabled); }
/**
* Common interface for inverting direction of a speed controller.
* @param isInverted The state of inversion, true is inverted.
*/
void Jaguar::SetInverted(bool isInverted){
m_isInverted = isInverted;
}
void Jaguar::SetInverted(bool isInverted) { m_isInverted = isInverted; }
/**
* Common interface for the inverting direction of a speed controller.
@@ -92,16 +78,11 @@ m_isInverted = isInverted;
* @return isInverted The state of inversion, true is inverted.
*
*/
bool Jaguar::GetInverted() const {
return m_isInverted;
}
bool Jaguar::GetInverted() const { return m_isInverted; }
/**
* Write out the PID value as seen in the PIDOutput base object.
*
* @param output Write out the PWM value as was found in the PIDController
*/
void Jaguar::PIDWrite(float output)
{
Set(output);
}
void Jaguar::PIDWrite(float output) { Set(output); }