mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
Moved C++ comments from source files to headers (#1111)
Also sorted functions in C++ sources to match order in related headers.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
d9971a705a
commit
8c680a26f8
@@ -18,16 +18,6 @@
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using namespace frc;
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/**
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* Allocate a PWM given a channel number.
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*
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* 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
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* assign channels.
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*
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* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the
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* MXP port
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*/
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PWM::PWM(int channel) {
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if (!SensorUtil::CheckPWMChannel(channel)) {
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
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@@ -57,11 +47,6 @@ PWM::PWM(int channel) {
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SetName("PWM", channel);
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}
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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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int32_t status = 0;
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@@ -72,168 +57,6 @@ PWM::~PWM() {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(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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*
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* @param eliminateDeadband If true, set the motor curve on the Jaguar to
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* eliminate the deadband in the middle of the range.
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* Otherwise, keep the full range without modifying
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* any values.
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*/
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void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set the bounds on the PWM pulse widths.
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*
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* This sets the bounds on the PWM values for a particular type of controller.
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* The values determine the upper and lower speeds as well as the deadband
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* bracket.
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*
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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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* @param center The center (off) pulse width in ms
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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,
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double deadbandMin, double min) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
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&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set the bounds on the PWM values.
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*
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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 determine the upper and lower speeds as well as the
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* deadband bracket.
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*
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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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* @param center The center speed (off)
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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::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
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int min) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
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&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the bounds on the PWM values.
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*
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* This Gets the bounds on the PWM values for a particular each type of
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* controller. The values determine the upper and lower speeds as well as the
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* deadband bracket.
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*
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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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* @param center The center speed (off)
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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::GetRawBounds(int* max, int* deadbandMax, int* center,
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int* deadbandMin, int* min) {
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int32_t status = 0;
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HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
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&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set the PWM value based on a position.
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*
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* This is intended to be used by servos.
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*
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* @pre SetMaxPositivePwm() called.
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* @pre SetMinNegativePwm() called.
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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(double pos) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMPosition(m_handle, pos, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the PWM value in terms of a position.
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*
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* This is intended to be used by servos.
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*
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* @pre SetMaxPositivePwm() called.
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* @pre SetMinNegativePwm() called.
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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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double PWM::GetPosition() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double position = HAL_GetPWMPosition(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return position;
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}
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/**
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* Set the PWM value based on a speed.
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*
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* This is intended to be used by speed controllers.
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*
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* @pre SetMaxPositivePwm() called.
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* @pre SetMinPositivePwm() called.
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* @pre SetCenterPwm() called.
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* @pre SetMaxNegativePwm() called.
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* @pre SetMinNegativePwm() called.
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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(double speed) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMSpeed(m_handle, speed, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the PWM value in terms of speed.
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*
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* This is intended to be used by speed controllers.
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*
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* @pre SetMaxPositivePwm() called.
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* @pre SetMinPositivePwm() called.
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* @pre SetMaxNegativePwm() called.
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* @pre SetMinNegativePwm() called.
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*
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* @return The most recently set speed between -1.0 and 1.0.
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*/
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double PWM::GetSpeed() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double speed = HAL_GetPWMSpeed(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return speed;
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}
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/**
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* Set the PWM value directly to the hardware.
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*
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* Write a raw value to a PWM channel.
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*
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* @param value Raw PWM value.
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*/
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void PWM::SetRaw(uint16_t value) {
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if (StatusIsFatal()) return;
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@@ -242,13 +65,6 @@ void PWM::SetRaw(uint16_t value) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the PWM value directly from the hardware.
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*
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* Read a raw value from a PWM channel.
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*
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* @return Raw PWM control value.
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*/
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uint16_t PWM::GetRaw() const {
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if (StatusIsFatal()) return 0;
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@@ -259,11 +75,45 @@ uint16_t PWM::GetRaw() const {
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return value;
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}
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/**
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* Slow down the PWM signal for old devices.
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*
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* @param mult The period multiplier to apply to this channel
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*/
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void PWM::SetPosition(double pos) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMPosition(m_handle, pos, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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double PWM::GetPosition() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double position = HAL_GetPWMPosition(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return position;
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}
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void PWM::SetSpeed(double speed) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMSpeed(m_handle, speed, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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double PWM::GetSpeed() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double speed = HAL_GetPWMSpeed(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return speed;
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}
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void PWM::SetDisabled() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMDisabled(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
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if (StatusIsFatal()) return;
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@@ -288,19 +138,6 @@ void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Temporarily disables the PWM output. The next set call will reenable
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* the output.
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*/
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void PWM::SetDisabled() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMDisabled(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void PWM::SetZeroLatch() {
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if (StatusIsFatal()) return;
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@@ -310,6 +147,41 @@ void PWM::SetZeroLatch() {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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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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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
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&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
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int min) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
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&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void PWM::GetRawBounds(int* max, int* deadbandMax, int* center,
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int* deadbandMin, int* min) {
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int32_t status = 0;
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HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
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&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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int PWM::GetChannel() const { return m_channel; }
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void PWM::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("PWM");
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builder.SetSafeState([=]() { SetDisabled(); });
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