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Make VictorSP and TalonSRX use correct bounds (give an extra 1us on min and max to ensure saturation). Fixes artf3914 for C++ and Java

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Change-Id: Ia1a848e011615e4ff50b9f5ef6e1017764aeb904
This commit is contained in:
Kevin O'Connor
2014-12-12 18:01:24 -05:00
parent ac60198842
commit 8efe998270
6 changed files with 324 additions and 14 deletions
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72
wpilibc/wpilibC++Devices/src/VictorSP.cpp
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@@ -6,10 +6,78 @@
#include "VictorSP.h"
VictorSP::VictorSP(uint32_t channel) : Talon(channel) {
//#include "NetworkCommunication/UsageReporting.h"
#include "LiveWindow/LiveWindow.h"
/**
* Common initialization code called by all constructors.
*
* Note that the VictorSP uses the following bounds for PWM values. These values should work reasonably well for
* most controllers, but if users experience issues such as asymmetric behavior around
* the deadband or inability to saturate the controller in either direction, calibration is recommended.
* The calibration procedure can be found in the VictorSP User Manual available from Vex.
*
*/
void VictorSP::InitVictorSP() {
SetBounds(2.001, 1.52, 1.50, 1.48, .999);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
SetZeroLatch();
HALReport(HALUsageReporting::kResourceType_Talon, GetChannel());
LiveWindow::GetInstance()->AddActuator("VictorSP", GetChannel(), this);
}
VictorSP::~VictorSP() {
/**
* @param channel The PWM channel that the VictorSP is attached to.
*/
VictorSP::VictorSP(uint32_t channel) : SafePWM(channel)
{
InitVictorSP();
}
VictorSP::~VictorSP()
{
}
/**
* Set the PWM value.
*
* The PWM value is set using a range of -1.0 to 1.0, appropriately
* scaling the value for the FPGA.
*
* @param speed The speed value between -1.0 and 1.0 to set.
* @param syncGroup Unused interface.
*/
void VictorSP::Set(float speed, uint8_t syncGroup)
{
SetSpeed(speed);
}
/**
* Get the recently set value of the PWM.
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
float VictorSP::Get()
{
return GetSpeed();
}
/**
* Common interface for disabling a motor.
*/
void VictorSP::Disable()
{
SetRaw(kPwmDisabled);
}
/**
* 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 VictorSP::PIDWrite(float output)
{
Set(output);
}