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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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130
wpilibc/wpilibC++Devices/src/Servo.cpp
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@@ -1,5 +1,6 @@
/*----------------------------------------------------------------------------*/
/* 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. */
/*----------------------------------------------------------------------------*/
@@ -18,132 +19,121 @@ constexpr float Servo::kDefaultMinServoPWM;
/**
* Common initialization code called by all constructors.
*
* InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
* InitServo() assigns defaults for the period multiplier for the servo PWM
* control signal, as
* well as the minimum and maximum PWM values supported by the servo.
*/
void Servo::InitServo()
{
m_table = NULL;
SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
SetPeriodMultiplier(kPeriodMultiplier_4X);
void Servo::InitServo() {
m_table = NULL;
SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
SetPeriodMultiplier(kPeriodMultiplier_4X);
LiveWindow::GetInstance()->AddActuator("Servo", GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Servo, GetChannel());
LiveWindow::GetInstance()->AddActuator("Servo", GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Servo, GetChannel());
}
/**
* @param channel The PWM channel to which the servo is attached. 0-9 are on-board, 10-19 are on the MXP port
* @param channel The PWM channel to which the servo is attached. 0-9 are
* on-board, 10-19 are on the MXP port
*/
Servo::Servo(uint32_t channel) : SafePWM(channel)
{
InitServo();
// printf("Done initializing servo %d\n", channel);
Servo::Servo(uint32_t channel) : SafePWM(channel) {
InitServo();
// printf("Done initializing servo %d\n", channel);
}
Servo::~Servo()
{
}
Servo::~Servo() {}
/**
* Set the servo position.
*
* Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.
* Servo values range from 0.0 to 1.0 corresponding to the range of full left to
* full right.
*
* @param value Position from 0.0 to 1.0.
*/
void Servo::Set(float value)
{
SetPosition(value);
}
void Servo::Set(float value) { SetPosition(value); }
/**
* Set the servo to offline.
*
* Set the servo raw value to 0 (undriven)
*/
void Servo::SetOffline() {
SetRaw(0);
}
void Servo::SetOffline() { SetRaw(0); }
/**
* Get the servo position.
*
* Servo values range from 0.0 to 1.0 corresponding to the range of full left to full right.
* Servo values range from 0.0 to 1.0 corresponding to the range of full left to
* full right.
*
* @return Position from 0.0 to 1.0.
*/
float Servo::Get() const
{
return GetPosition();
}
float Servo::Get() const { return GetPosition(); }
/**
* Set the servo angle.
*
* Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).
* Assume that the servo angle is linear with respect to the PWM value (big
* assumption, need to test).
*
* Servo angles that are out of the supported range of the servo simply "saturate" in that direction
* In other words, if the servo has a range of (X degrees to Y degrees) than angles of less than X
* result in an angle of X being set and angles of more than Y degrees result in an angle of Y being set.
* Servo angles that are out of the supported range of the servo simply
* "saturate" in that direction
* In other words, if the servo has a range of (X degrees to Y degrees) than
* angles of less than X
* result in an angle of X being set and angles of more than Y degrees result in
* an angle of Y being set.
*
* @param degrees The angle in degrees to set the servo.
*/
void Servo::SetAngle(float degrees)
{
if (degrees < kMinServoAngle)
{
degrees = kMinServoAngle;
}
else if (degrees > kMaxServoAngle)
{
degrees = kMaxServoAngle;
}
void Servo::SetAngle(float degrees) {
if (degrees < kMinServoAngle) {
degrees = kMinServoAngle;
} else if (degrees > kMaxServoAngle) {
degrees = kMaxServoAngle;
}
SetPosition(((float) (degrees - kMinServoAngle)) / GetServoAngleRange());
SetPosition(((float)(degrees - kMinServoAngle)) / GetServoAngleRange());
}
/**
* Get the servo angle.
*
* Assume that the servo angle is linear with respect to the PWM value (big assumption, need to test).
* Assume that the servo angle is linear with respect to the PWM value (big
* assumption, need to test).
* @return The angle in degrees to which the servo is set.
*/
float Servo::GetAngle() const
{
return (float)GetPosition() * GetServoAngleRange() + kMinServoAngle;
float Servo::GetAngle() const {
return (float)GetPosition() * GetServoAngleRange() + kMinServoAngle;
}
void Servo::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
Set(value.f);
void Servo::ValueChanged(ITable* source, const std::string& key,
EntryValue value, bool isNew) {
Set(value.f);
}
void Servo::UpdateTable() {
if (m_table != NULL) {
m_table->PutNumber("Value", Get());
}
if (m_table != NULL) {
m_table->PutNumber("Value", Get());
}
}
void Servo::StartLiveWindowMode() {
if (m_table != NULL) {
m_table->AddTableListener("Value", this, true);
}
if (m_table != NULL) {
m_table->AddTableListener("Value", this, true);
}
}
void Servo::StopLiveWindowMode() {
if (m_table != NULL) {
m_table->RemoveTableListener(this);
}
if (m_table != NULL) {
m_table->RemoveTableListener(this);
}
}
std::string Servo::GetSmartDashboardType() const {
return "Servo";
std::string Servo::GetSmartDashboardType() const { return "Servo"; }
void Servo::InitTable(ITable* subTable) {
m_table = subTable;
UpdateTable();
}
void Servo::InitTable(ITable *subTable) {
m_table = subTable;
UpdateTable();
}
ITable * Servo::GetTable() const {
return m_table;
}
ITable* Servo::GetTable() const { return m_table; }