mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-26 01:51:41 +00:00
Major formatting changes (breaks diffs). No code changes.
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
@@ -1,5 +1,6 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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@@ -20,35 +21,36 @@ const int32_t PWM::kPwmDisabled;
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/**
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* Initialize PWMs given a channel.
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*
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* This method is private and is the common path for all the constructors for creating PWM
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* This method is private and is the common path for all the constructors for
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* creating PWM
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* instances. Checks channel value range and allocates the appropriate channel.
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* The allocation is only done to help users ensure that they don't double assign channels.
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* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
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* The allocation is only done to help users ensure that they don't double
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* assign channels.
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* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP
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* port
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*/
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void PWM::InitPWM(uint32_t channel)
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{
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m_table = NULL;
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char buf[64];
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void PWM::InitPWM(uint32_t channel) {
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m_table = NULL;
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char buf[64];
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if (!CheckPWMChannel(channel))
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{
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snprintf(buf, 64, "PWM Channel %d", channel);
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
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return;
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}
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if (!CheckPWMChannel(channel)) {
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snprintf(buf, 64, "PWM Channel %d", channel);
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf);
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return;
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}
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int32_t status = 0;
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allocatePWMChannel(m_pwm_ports[channel], &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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int32_t status = 0;
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allocatePWMChannel(m_pwm_ports[channel], &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_channel = channel;
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m_channel = channel;
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setPWM(m_pwm_ports[m_channel], kPwmDisabled, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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setPWM(m_pwm_ports[m_channel], kPwmDisabled, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_eliminateDeadband = false;
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m_eliminateDeadband = false;
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HALReport(HALUsageReporting::kResourceType_PWM, channel);
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HALReport(HALUsageReporting::kResourceType_PWM, channel);
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}
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/**
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@@ -56,42 +58,40 @@ void PWM::InitPWM(uint32_t channel)
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*
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* @param channel The PWM channel.
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*/
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PWM::PWM(uint32_t channel)
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{
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InitPWM(channel);
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}
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PWM::PWM(uint32_t channel) { InitPWM(channel); }
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/**
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* Free the PWM channel.
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*
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* Free the resource associated with the PWM channel and set the value to 0.
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*/
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PWM::~PWM()
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{
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int32_t status = 0;
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PWM::~PWM() {
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int32_t status = 0;
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setPWM(m_pwm_ports[m_channel], kPwmDisabled, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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setPWM(m_pwm_ports[m_channel], kPwmDisabled, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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freePWMChannel(m_pwm_ports[m_channel], &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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freePWMChannel(m_pwm_ports[m_channel], &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Optionally eliminate the deadband from a speed controller.
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* @param eliminateDeadband If true, set the motor curve on the Jaguar to eliminate
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* the deadband in the middle of the range. Otherwise, keep the full range without
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* @param eliminateDeadband If true, set the motor curve on the Jaguar to
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* eliminate
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* the deadband in the middle of the range. Otherwise, keep the full range
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* without
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* modifying any values.
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*/
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void PWM::EnableDeadbandElimination(bool eliminateDeadband)
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{
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if (StatusIsFatal()) return;
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m_eliminateDeadband = eliminateDeadband;
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void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
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if (StatusIsFatal()) return;
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m_eliminateDeadband = eliminateDeadband;
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}
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/**
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* Set the bounds on the PWM values.
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* This sets the bounds on the PWM values for a particular each type of controller. The values
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* This sets the bounds on the PWM values for a particular each type of
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* controller. The values
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* determine the upper and lower speeds as well as the deadband bracket.
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* @param max The Minimum pwm value
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* @param deadbandMax The high end of the deadband range
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@@ -99,20 +99,20 @@ void PWM::EnableDeadbandElimination(bool eliminateDeadband)
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* @param deadbandMin The low end of the deadband range
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* @param min The minimum pwm value
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*/
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void PWM::SetBounds(int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin, int32_t min)
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{
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if (StatusIsFatal()) return;
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m_maxPwm = max;
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m_deadbandMaxPwm = deadbandMax;
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m_centerPwm = center;
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m_deadbandMinPwm = deadbandMin;
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m_minPwm = min;
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void PWM::SetBounds(int32_t max, int32_t deadbandMax, int32_t center,
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int32_t deadbandMin, int32_t min) {
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if (StatusIsFatal()) return;
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m_maxPwm = max;
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m_deadbandMaxPwm = deadbandMax;
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m_centerPwm = center;
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m_deadbandMinPwm = deadbandMin;
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m_minPwm = min;
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}
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/**
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* Set the bounds on the PWM pulse widths.
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* This sets the bounds on the PWM values for a particular type of controller. The values
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* This sets the bounds on the PWM values for a particular type of controller.
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* The values
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* determine the upper and lower speeds as well as the deadband bracket.
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* @param max The max PWM pulse width in ms
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* @param deadbandMax The high end of the deadband range pulse width in ms
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@@ -120,20 +120,26 @@ void PWM::SetBounds(int32_t max, int32_t deadbandMax, int32_t center, int32_t de
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* @param deadbandMin The low end of the deadband pulse width in ms
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* @param min The minimum pulse width in ms
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*/
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void PWM::SetBounds(double max, double deadbandMax, double center, double deadbandMin, double min)
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{
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// calculate the loop time in milliseconds
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int32_t status = 0;
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double loopTime = getLoopTiming(&status)/(kSystemClockTicksPerMicrosecond*1e3);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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void PWM::SetBounds(double max, double deadbandMax, double center,
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double deadbandMin, double min) {
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// calculate the loop time in milliseconds
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int32_t status = 0;
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double loopTime =
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getLoopTiming(&status) / (kSystemClockTicksPerMicrosecond * 1e3);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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if (StatusIsFatal()) return;
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if (StatusIsFatal()) return;
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m_maxPwm = (int32_t)((max-kDefaultPwmCenter)/loopTime+kDefaultPwmStepsDown-1);
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m_deadbandMaxPwm = (int32_t)((deadbandMax-kDefaultPwmCenter)/loopTime+kDefaultPwmStepsDown-1);
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m_centerPwm = (int32_t)((center-kDefaultPwmCenter)/loopTime+kDefaultPwmStepsDown-1);
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m_deadbandMinPwm = (int32_t)((deadbandMin-kDefaultPwmCenter)/loopTime+kDefaultPwmStepsDown-1);
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m_minPwm = (int32_t)((min-kDefaultPwmCenter)/loopTime+kDefaultPwmStepsDown-1);
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m_maxPwm = (int32_t)((max - kDefaultPwmCenter) / loopTime +
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kDefaultPwmStepsDown - 1);
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m_deadbandMaxPwm = (int32_t)((deadbandMax - kDefaultPwmCenter) / loopTime +
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kDefaultPwmStepsDown - 1);
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m_centerPwm = (int32_t)((center - kDefaultPwmCenter) / loopTime +
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kDefaultPwmStepsDown - 1);
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m_deadbandMinPwm = (int32_t)((deadbandMin - kDefaultPwmCenter) / loopTime +
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kDefaultPwmStepsDown - 1);
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m_minPwm = (int32_t)((min - kDefaultPwmCenter) / loopTime +
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kDefaultPwmStepsDown - 1);
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}
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/**
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@@ -146,27 +152,28 @@ void PWM::SetBounds(double max, double deadbandMax, double center, double deadba
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*
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* @param pos The position to set the servo between 0.0 and 1.0.
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*/
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void PWM::SetPosition(float pos)
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{
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if (StatusIsFatal()) return;
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if (pos < 0.0)
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{
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pos = 0.0;
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}
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else if (pos > 1.0)
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{
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pos = 1.0;
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}
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void PWM::SetPosition(float pos) {
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if (StatusIsFatal()) return;
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if (pos < 0.0) {
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pos = 0.0;
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} else if (pos > 1.0) {
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pos = 1.0;
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}
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// note, need to perform the multiplication below as floating point before converting to int
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unsigned short rawValue = (int32_t)( (pos * (float) GetFullRangeScaleFactor()) + GetMinNegativePwm());
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// printf("MinNegPWM: %d FullRangeScaleFactor: %d Raw value: %5d Input value: %4.4f\n", GetMinNegativePwm(), GetFullRangeScaleFactor(), rawValue, pos);
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// note, need to perform the multiplication below as floating point before
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// converting to int
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unsigned short rawValue =
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(int32_t)((pos * (float)GetFullRangeScaleFactor()) + GetMinNegativePwm());
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// printf("MinNegPWM: %d FullRangeScaleFactor: %d Raw value: %5d Input
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//value: %4.4f\n", GetMinNegativePwm(), GetFullRangeScaleFactor(), rawValue,
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//pos);
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// wpi_assert((rawValue >= GetMinNegativePwm()) && (rawValue <= GetMaxPositivePwm()));
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wpi_assert(rawValue != kPwmDisabled);
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// wpi_assert((rawValue >= GetMinNegativePwm()) && (rawValue <=
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//GetMaxPositivePwm()));
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wpi_assert(rawValue != kPwmDisabled);
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// send the computed pwm value to the FPGA
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SetRaw((unsigned short)rawValue);
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// send the computed pwm value to the FPGA
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SetRaw((unsigned short)rawValue);
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}
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/**
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@@ -179,22 +186,17 @@ void PWM::SetPosition(float pos)
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*
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* @return The position the servo is set to between 0.0 and 1.0.
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*/
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float PWM::GetPosition() const
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{
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if (StatusIsFatal()) return 0.0;
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int32_t value = GetRaw();
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if (value < GetMinNegativePwm())
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{
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return 0.0;
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}
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else if (value > GetMaxPositivePwm())
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{
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return 1.0;
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}
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else
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{
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return (float)(value - GetMinNegativePwm()) / (float)GetFullRangeScaleFactor();
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}
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float PWM::GetPosition() const {
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if (StatusIsFatal()) return 0.0;
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int32_t value = GetRaw();
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if (value < GetMinNegativePwm()) {
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return 0.0;
|
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} else if (value > GetMaxPositivePwm()) {
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return 1.0;
|
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} else {
|
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return (float)(value - GetMinNegativePwm()) /
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(float)GetFullRangeScaleFactor();
|
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}
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}
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/**
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@@ -210,42 +212,34 @@ float PWM::GetPosition() const
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*
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* @param speed The speed to set the speed controller between -1.0 and 1.0.
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*/
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void PWM::SetSpeed(float speed)
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{
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if (StatusIsFatal()) return;
|
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// clamp speed to be in the range 1.0 >= speed >= -1.0
|
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if (speed < -1.0)
|
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{
|
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speed = -1.0;
|
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}
|
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else if (speed > 1.0)
|
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{
|
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speed = 1.0;
|
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}
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void PWM::SetSpeed(float speed) {
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if (StatusIsFatal()) return;
|
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// clamp speed to be in the range 1.0 >= speed >= -1.0
|
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if (speed < -1.0) {
|
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speed = -1.0;
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} else if (speed > 1.0) {
|
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speed = 1.0;
|
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}
|
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|
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// calculate the desired output pwm value by scaling the speed appropriately
|
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int32_t rawValue;
|
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if (speed == 0.0)
|
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{
|
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rawValue = GetCenterPwm();
|
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}
|
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else if (speed > 0.0)
|
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{
|
||||
rawValue = (int32_t)(speed * ((float)GetPositiveScaleFactor()) +
|
||||
((float) GetMinPositivePwm()) + 0.5);
|
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}
|
||||
else
|
||||
{
|
||||
rawValue = (int32_t)(speed * ((float)GetNegativeScaleFactor()) +
|
||||
((float) GetMaxNegativePwm()) + 0.5);
|
||||
}
|
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// calculate the desired output pwm value by scaling the speed appropriately
|
||||
int32_t rawValue;
|
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if (speed == 0.0) {
|
||||
rawValue = GetCenterPwm();
|
||||
} else if (speed > 0.0) {
|
||||
rawValue = (int32_t)(speed * ((float)GetPositiveScaleFactor()) +
|
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((float)GetMinPositivePwm()) + 0.5);
|
||||
} else {
|
||||
rawValue = (int32_t)(speed * ((float)GetNegativeScaleFactor()) +
|
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((float)GetMaxNegativePwm()) + 0.5);
|
||||
}
|
||||
|
||||
// the above should result in a pwm_value in the valid range
|
||||
wpi_assert((rawValue >= GetMinNegativePwm()) && (rawValue <= GetMaxPositivePwm()));
|
||||
wpi_assert(rawValue != kPwmDisabled);
|
||||
// the above should result in a pwm_value in the valid range
|
||||
wpi_assert((rawValue >= GetMinNegativePwm()) &&
|
||||
(rawValue <= GetMaxPositivePwm()));
|
||||
wpi_assert(rawValue != kPwmDisabled);
|
||||
|
||||
// send the computed pwm value to the FPGA
|
||||
SetRaw(rawValue);
|
||||
// send the computed pwm value to the FPGA
|
||||
SetRaw(rawValue);
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -260,34 +254,24 @@ void PWM::SetSpeed(float speed)
|
||||
*
|
||||
* @return The most recently set speed between -1.0 and 1.0.
|
||||
*/
|
||||
float PWM::GetSpeed() const
|
||||
{
|
||||
if (StatusIsFatal()) return 0.0;
|
||||
int32_t value = GetRaw();
|
||||
if (value == PWM::kPwmDisabled)
|
||||
{
|
||||
return 0.0;
|
||||
}
|
||||
else if (value > GetMaxPositivePwm())
|
||||
{
|
||||
return 1.0;
|
||||
}
|
||||
else if (value < GetMinNegativePwm())
|
||||
{
|
||||
return -1.0;
|
||||
}
|
||||
else if (value > GetMinPositivePwm())
|
||||
{
|
||||
return (float)(value - GetMinPositivePwm()) / (float)GetPositiveScaleFactor();
|
||||
}
|
||||
else if (value < GetMaxNegativePwm())
|
||||
{
|
||||
return (float)(value - GetMaxNegativePwm()) / (float)GetNegativeScaleFactor();
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0.0;
|
||||
}
|
||||
float PWM::GetSpeed() const {
|
||||
if (StatusIsFatal()) return 0.0;
|
||||
int32_t value = GetRaw();
|
||||
if (value == PWM::kPwmDisabled) {
|
||||
return 0.0;
|
||||
} else if (value > GetMaxPositivePwm()) {
|
||||
return 1.0;
|
||||
} else if (value < GetMinNegativePwm()) {
|
||||
return -1.0;
|
||||
} else if (value > GetMinPositivePwm()) {
|
||||
return (float)(value - GetMinPositivePwm()) /
|
||||
(float)GetPositiveScaleFactor();
|
||||
} else if (value < GetMaxNegativePwm()) {
|
||||
return (float)(value - GetMaxNegativePwm()) /
|
||||
(float)GetNegativeScaleFactor();
|
||||
} else {
|
||||
return 0.0;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -297,13 +281,12 @@ float PWM::GetSpeed() const
|
||||
*
|
||||
* @param value Raw PWM value.
|
||||
*/
|
||||
void PWM::SetRaw(unsigned short value)
|
||||
{
|
||||
if (StatusIsFatal()) return;
|
||||
void PWM::SetRaw(unsigned short value) {
|
||||
if (StatusIsFatal()) return;
|
||||
|
||||
int32_t status = 0;
|
||||
setPWM(m_pwm_ports[m_channel], value, &status);
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
int32_t status = 0;
|
||||
setPWM(m_pwm_ports[m_channel], value, &status);
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -313,15 +296,14 @@ void PWM::SetRaw(unsigned short value)
|
||||
*
|
||||
* @return Raw PWM control value.
|
||||
*/
|
||||
unsigned short PWM::GetRaw() const
|
||||
{
|
||||
if (StatusIsFatal()) return 0;
|
||||
unsigned short PWM::GetRaw() const {
|
||||
if (StatusIsFatal()) return 0;
|
||||
|
||||
int32_t status = 0;
|
||||
unsigned short value = getPWM(m_pwm_ports[m_channel], &status);
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
int32_t status = 0;
|
||||
unsigned short value = getPWM(m_pwm_ports[m_channel], &status);
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
|
||||
return value;
|
||||
return value;
|
||||
}
|
||||
|
||||
/**
|
||||
@@ -329,74 +311,70 @@ unsigned short PWM::GetRaw() const
|
||||
*
|
||||
* @param mult The period multiplier to apply to this channel
|
||||
*/
|
||||
void PWM::SetPeriodMultiplier(PeriodMultiplier mult)
|
||||
{
|
||||
if (StatusIsFatal()) return;
|
||||
void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
|
||||
if (StatusIsFatal()) return;
|
||||
|
||||
int32_t status = 0;
|
||||
int32_t status = 0;
|
||||
|
||||
switch(mult)
|
||||
{
|
||||
case kPeriodMultiplier_4X:
|
||||
setPWMPeriodScale(m_pwm_ports[m_channel], 3, &status); // Squelch 3 out of 4 outputs
|
||||
break;
|
||||
case kPeriodMultiplier_2X:
|
||||
setPWMPeriodScale(m_pwm_ports[m_channel], 1, &status); // Squelch 1 out of 2 outputs
|
||||
break;
|
||||
case kPeriodMultiplier_1X:
|
||||
setPWMPeriodScale(m_pwm_ports[m_channel], 0, &status); // Don't squelch any outputs
|
||||
break;
|
||||
default:
|
||||
wpi_assert(false);
|
||||
}
|
||||
switch (mult) {
|
||||
case kPeriodMultiplier_4X:
|
||||
setPWMPeriodScale(m_pwm_ports[m_channel], 3,
|
||||
&status); // Squelch 3 out of 4 outputs
|
||||
break;
|
||||
case kPeriodMultiplier_2X:
|
||||
setPWMPeriodScale(m_pwm_ports[m_channel], 1,
|
||||
&status); // Squelch 1 out of 2 outputs
|
||||
break;
|
||||
case kPeriodMultiplier_1X:
|
||||
setPWMPeriodScale(m_pwm_ports[m_channel], 0,
|
||||
&status); // Don't squelch any outputs
|
||||
break;
|
||||
default:
|
||||
wpi_assert(false);
|
||||
}
|
||||
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
}
|
||||
|
||||
void PWM::SetZeroLatch()
|
||||
{
|
||||
if (StatusIsFatal()) return;
|
||||
|
||||
int32_t status = 0;
|
||||
|
||||
latchPWMZero(m_pwm_ports[m_channel], &status);
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
void PWM::SetZeroLatch() {
|
||||
if (StatusIsFatal()) return;
|
||||
|
||||
int32_t status = 0;
|
||||
|
||||
latchPWMZero(m_pwm_ports[m_channel], &status);
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
}
|
||||
|
||||
|
||||
void PWM::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
|
||||
SetSpeed(value.f);
|
||||
void PWM::ValueChanged(ITable* source, const std::string& key, EntryValue value,
|
||||
bool isNew) {
|
||||
SetSpeed(value.f);
|
||||
}
|
||||
|
||||
void PWM::UpdateTable() {
|
||||
if (m_table != NULL) {
|
||||
m_table->PutNumber("Value", GetSpeed());
|
||||
}
|
||||
if (m_table != NULL) {
|
||||
m_table->PutNumber("Value", GetSpeed());
|
||||
}
|
||||
}
|
||||
|
||||
void PWM::StartLiveWindowMode() {
|
||||
SetSpeed(0);
|
||||
if (m_table != NULL) {
|
||||
m_table->AddTableListener("Value", this, true);
|
||||
}
|
||||
SetSpeed(0);
|
||||
if (m_table != NULL) {
|
||||
m_table->AddTableListener("Value", this, true);
|
||||
}
|
||||
}
|
||||
|
||||
void PWM::StopLiveWindowMode() {
|
||||
SetSpeed(0);
|
||||
if (m_table != NULL) {
|
||||
m_table->RemoveTableListener(this);
|
||||
}
|
||||
SetSpeed(0);
|
||||
if (m_table != NULL) {
|
||||
m_table->RemoveTableListener(this);
|
||||
}
|
||||
}
|
||||
|
||||
std::string PWM::GetSmartDashboardType() const {
|
||||
return "Speed Controller";
|
||||
std::string PWM::GetSmartDashboardType() const { return "Speed Controller"; }
|
||||
|
||||
void PWM::InitTable(ITable* subTable) {
|
||||
m_table = subTable;
|
||||
UpdateTable();
|
||||
}
|
||||
|
||||
void PWM::InitTable(ITable *subTable) {
|
||||
m_table = subTable;
|
||||
UpdateTable();
|
||||
}
|
||||
|
||||
ITable * PWM::GetTable() const {
|
||||
return m_table;
|
||||
}
|
||||
ITable* PWM::GetTable() const { return m_table; }
|
||||
|
||||
Reference in New Issue
Block a user