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[hal] Convert DutyCycle Raw output to be a high time measurement (#4466)

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The existing raw time has an issue where it jumps around, as in the FPGA if the frequency is not a multiple or divisor of 25 Mhz it jumps around by 1 every second. While waiting on an FPGA change, update the API to make raw output give nanoseconds rather then a scaled value. This does a longer read cycle to get the correct value, but in the future if a fast FPGA function is added this can be easily changed.
This commit is contained in:
Thad House
2022-10-12 10:15:09 -07:00
committed by GitHub
parent 89a3d00297
commit 87a64ccedc
10 changed files with 79 additions and 63 deletions
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14
wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycle.java
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@@ -73,21 +73,19 @@ public class DutyCycle implements Sendable, AutoCloseable {
}
/**
* Get the raw output ratio of the duty cycle signal.
* Get the raw high time of the duty cycle signal.
*
* <p>0 means always low, an output equal to getOutputScaleFactor() means always high.
*
* @return output ratio in raw units
* @return high time of last pulse in nanoseconds
*/
public int getOutputRaw() {
return DutyCycleJNI.getOutputRaw(m_handle);
public int getHighTimeNanoseconds() {
return DutyCycleJNI.getHighTime(m_handle);
}
/**
* Get the scale factor of the output.
*
* <p>An output equal to this value is always high, and then linearly scales down to 0. Divide the
* result of getOutputRaw by this in order to get the percentage between 0 and 1.
* <p>An output equal to this value is always high, and then linearly scales down to 0. Divide a
* raw result by this in order to get the percentage between 0 and 1. Used by DMA.
*
* @return the output scale factor
*/