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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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72
wpilibc/wpilibC++Devices/src/Victor.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. */
/*----------------------------------------------------------------------------*/
@@ -12,11 +13,16 @@
/**
* Common initialization code called by all constructors.
*
* Note that the Victor uses the following bounds for PWM values. These values were determined
* empirically and optimized for the Victor 888. These values should work reasonably well for
* Victor 884 controllers as well but if users experience issues such as asymmetric behaviour around
* the deadband or inability to saturate the controller in either direction, calibration is recommended.
* The calibration procedure can be found in the Victor 884 User Manual available from IFI.
* Note that the Victor uses the following bounds for PWM values. These values
* were determined
* empirically and optimized for the Victor 888. These values should work
* reasonably well for
* Victor 884 controllers as well but if users experience issues such as
* asymmetric behaviour around
* the deadband or inability to saturate the controller in either direction,
* calibration is recommended.
* The calibration procedure can be found in the Victor 884 User Manual
* available from IFI.
*
* 2.027ms = full "forward"
* 1.525ms = the "high end" of the deadband range
@@ -25,29 +31,25 @@
* 1.026ms = full "reverse"
*/
void Victor::InitVictor() {
SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
SetZeroLatch();
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
SetZeroLatch();
LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());
m_isInverted = false;
LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());
m_isInverted = false;
}
/**
* Constructor for a Victor
* @param channel The PWM channel number that the Victor is attached to. 0-9 are on-board, 10-19 are on the MXP port
* @param channel The PWM channel number that the Victor is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
Victor::Victor(uint32_t channel) : SafePWM(channel)
{
InitVictor();
}
Victor::Victor(uint32_t channel) : SafePWM(channel) { InitVictor(); }
Victor::~Victor()
{
}
Victor::~Victor() {}
/**
* Set the PWM value.
@@ -58,9 +60,8 @@ Victor::~Victor()
* @param speed The speed value between -1.0 and 1.0 to set.
* @param syncGroup Unused interface.
*/
void Victor::Set(float speed, uint8_t syncGroup)
{
SetSpeed(m_isInverted ? -speed: speed);
void Victor::Set(float speed, uint8_t syncGroup) {
SetSpeed(m_isInverted ? -speed : speed);
}
/**
@@ -68,25 +69,17 @@ void Victor::Set(float speed, uint8_t syncGroup)
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
float Victor::Get() const
{
return GetSpeed();
}
float Victor::Get() const { return GetSpeed(); }
/**
* Common interface for disabling a motor.
*/
void Victor::Disable()
{
SetRaw(kPwmDisabled);
}
void Victor::Disable() { SetRaw(kPwmDisabled); }
/**
* Common interface for inverting direction of a speed controller.
* @param isInverted The state of inversion, true is inverted.
*/
void Victor::SetInverted(bool isInverted){
m_isInverted = isInverted;
}
void Victor::SetInverted(bool isInverted) { m_isInverted = isInverted; }
/**
* Common interface for the inverting direction of a speed controller.
@@ -94,16 +87,11 @@ m_isInverted = isInverted;
* @return isInverted The state of inversion, true is inverted.
*
*/
bool Victor::GetInverted() const {
return m_isInverted;
}
bool Victor::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 Victor::PIDWrite(float output)
{
Set(output);
}
void Victor::PIDWrite(float output) { Set(output); }