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[wpilib] PWMSpeedController: Use PWM by composition (#3248)

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This cleans up the user experience by removing lower-level functions from the
interface.

Also remove MotorSafety from "raw" PWM.
This commit is contained in:
Peter Johnson
2021-03-21 11:12:49 -07:00
committed by GitHub
parent 160fb740f4
commit 9550777b9d
32 changed files with 242 additions and 252 deletions
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13
wpilibc/src/main/native/cpp/DMC60.cpp
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@@ -6,16 +6,13 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
DMC60::DMC60(int channel) : PWMSpeedController(channel) {
SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
DMC60::DMC60(int channel) : PWMSpeedController("DMC60", channel) {
m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_DigilentDMC60, GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "DMC60", GetChannel());
}

13
wpilibc/src/main/native/cpp/Jaguar.cpp
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@@ -6,16 +6,13 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Jaguar::Jaguar(int channel) : PWMSpeedController(channel) {
SetBounds(2.31, 1.55, 1.507, 1.454, 0.697);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
Jaguar::Jaguar(int channel) : PWMSpeedController("Jaguar", channel) {
m_pwm.SetBounds(2.31, 1.55, 1.507, 1.454, 0.697);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_Jaguar, GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "Jaguar", GetChannel());
}

1
wpilibc/src/main/native/cpp/NidecBrushless.cpp
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@@ -5,6 +5,7 @@
#include "frc/NidecBrushless.h"
#include <hal/FRCUsageReporting.h>
#include <wpi/raw_ostream.h>
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"

23
wpilibc/src/main/native/cpp/PWM.cpp
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@@ -19,7 +19,7 @@
using namespace frc;
PWM::PWM(int channel) {
PWM::PWM(int channel, bool registerSendable) {
if (!SensorUtil::CheckPWMChannel(channel)) {
wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
"PWM Channel " + wpi::Twine(channel));
@@ -44,9 +44,9 @@ PWM::PWM(int channel) {
wpi_setHALError(status);
HAL_Report(HALUsageReporting::kResourceType_PWM, channel + 1);
SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
SetSafetyEnabled(false);
if (registerSendable) {
SendableRegistry::GetInstance().AddLW(this, "PWM", channel);
}
}
PWM::~PWM() {
@@ -59,14 +59,6 @@ PWM::~PWM() {
wpi_setHALError(status);
}
void PWM::StopMotor() {
SetDisabled();
}
void PWM::GetDescription(wpi::raw_ostream& desc) const {
desc << "PWM " << GetChannel();
}
void PWM::SetRaw(uint16_t value) {
if (StatusIsFatal()) {
return;
@@ -115,8 +107,6 @@ void PWM::SetSpeed(double speed) {
int32_t status = 0;
HAL_SetPWMSpeed(m_handle, speed, &status);
wpi_setHALError(status);
Feed();
}
double PWM::GetSpeed() const {
@@ -223,8 +213,7 @@ int PWM::GetChannel() const {
void PWM::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("PWM");
builder.SetActuator(true);
builder.SetSafeState([=]() { SetDisabled(); });
builder.SetSafeState([=] { SetDisabled(); });
builder.AddDoubleProperty(
"Value", [=]() { return GetRaw(); },
[=](double value) { SetRaw(value); });
"Value", [=] { return GetRaw(); }, [=](double value) { SetRaw(value); });
}

12
wpilibc/src/main/native/cpp/PWMSparkMax.cpp
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@@ -10,12 +10,12 @@
using namespace frc;
PWMSparkMax::PWMSparkMax(int channel) : PWMSpeedController(channel) {
SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
PWMSparkMax::PWMSparkMax(int channel)
: PWMSpeedController("PWMSparkMax", channel) {
m_pwm.SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_RevSparkMaxPWM, GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "PWMSparkMax", GetChannel());
}

28
wpilibc/src/main/native/cpp/PWMSpeedController.cpp
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@@ -4,16 +4,18 @@
#include "frc/PWMSpeedController.h"
#include <wpi/raw_ostream.h>
#include "frc/smartdashboard/SendableBuilder.h"
using namespace frc;
void PWMSpeedController::Set(double speed) {
SetSpeed(m_isInverted ? -speed : speed);
m_pwm.SetSpeed(m_isInverted ? -speed : speed);
}
double PWMSpeedController::Get() const {
return GetSpeed() * (m_isInverted ? -1.0 : 1.0);
return m_pwm.GetSpeed() * (m_isInverted ? -1.0 : 1.0);
}
void PWMSpeedController::SetInverted(bool isInverted) {
@@ -25,24 +27,34 @@ bool PWMSpeedController::GetInverted() const {
}
void PWMSpeedController::Disable() {
SetDisabled();
m_pwm.SetDisabled();
}
void PWMSpeedController::StopMotor() {
PWM::StopMotor();
Disable();
}
void PWMSpeedController::GetDescription(wpi::raw_ostream& desc) const {
desc << "PWM " << GetChannel();
}
int PWMSpeedController::GetChannel() const {
return m_pwm.GetChannel();
}
void PWMSpeedController::PIDWrite(double output) {
Set(output);
}
PWMSpeedController::PWMSpeedController(int channel) : PWM(channel) {}
PWMSpeedController::PWMSpeedController(const wpi::Twine& name, int channel)
: m_pwm(channel, false) {
SendableRegistry::GetInstance().AddLW(this, name, channel);
}
void PWMSpeedController::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Speed Controller");
builder.SetActuator(true);
builder.SetSafeState([=]() { SetDisabled(); });
builder.SetSafeState([=] { Disable(); });
builder.AddDoubleProperty(
"Value", [=]() { return GetSpeed(); },
[=](double value) { SetSpeed(value); });
"Value", [=] { return Get(); }, [=](double value) { Set(value); });
}

14
wpilibc/src/main/native/cpp/PWMTalonFX.cpp
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@@ -6,16 +6,14 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
PWMTalonFX::PWMTalonFX(int channel) : PWMSpeedController(channel) {
SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
PWMTalonFX::PWMTalonFX(int channel)
: PWMSpeedController("PWMTalonFX", channel) {
m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_TalonFX, GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "PWMTalonFX", GetChannel());
}

14
wpilibc/src/main/native/cpp/PWMTalonSRX.cpp
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@@ -6,16 +6,14 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
PWMTalonSRX::PWMTalonSRX(int channel) : PWMSpeedController(channel) {
SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
PWMTalonSRX::PWMTalonSRX(int channel)
: PWMSpeedController("PWMTalonSRX", channel) {
m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_PWMTalonSRX, GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "PWMTalonSRX", GetChannel());
}

13
wpilibc/src/main/native/cpp/PWMVenom.cpp
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@@ -6,16 +6,13 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
PWMVenom::PWMVenom(int channel) : PWMSpeedController(channel) {
SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
PWMVenom::PWMVenom(int channel) : PWMSpeedController("PWMVenom", channel) {
m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_FusionVenom, GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "PWMVenom", GetChannel());
}

14
wpilibc/src/main/native/cpp/PWMVictorSPX.cpp
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@@ -6,16 +6,14 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
PWMVictorSPX::PWMVictorSPX(int channel) : PWMSpeedController(channel) {
SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
PWMVictorSPX::PWMVictorSPX(int channel)
: PWMSpeedController("PWMVictorSPX", channel) {
m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_PWMVictorSPX, GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "PWMVictorSPX", GetChannel());
}

13
wpilibc/src/main/native/cpp/SD540.cpp
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@@ -6,17 +6,14 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
SD540::SD540(int channel) : PWMSpeedController(channel) {
SetBounds(2.05, 1.55, 1.50, 1.44, 0.94);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
SD540::SD540(int channel) : PWMSpeedController("SD540", channel) {
m_pwm.SetBounds(2.05, 1.55, 1.50, 1.44, 0.94);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_MindsensorsSD540,
GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "SD540", GetChannel());
}

13
wpilibc/src/main/native/cpp/Spark.cpp
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@@ -6,16 +6,13 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Spark::Spark(int channel) : PWMSpeedController(channel) {
SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
Spark::Spark(int channel) : PWMSpeedController("Spark", channel) {
m_pwm.SetBounds(2.003, 1.55, 1.50, 1.46, 0.999);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "Spark", GetChannel());
}

13
wpilibc/src/main/native/cpp/Talon.cpp
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@@ -6,16 +6,13 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Talon::Talon(int channel) : PWMSpeedController(channel) {
SetBounds(2.037, 1.539, 1.513, 1.487, 0.989);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
Talon::Talon(int channel) : PWMSpeedController("Talon", channel) {
m_pwm.SetBounds(2.037, 1.539, 1.513, 1.487, 0.989);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_Talon, GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "Talon", GetChannel());
}

13
wpilibc/src/main/native/cpp/Victor.cpp
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@@ -6,16 +6,13 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Victor::Victor(int channel) : PWMSpeedController(channel) {
SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetSpeed(0.0);
SetZeroLatch();
Victor::Victor(int channel) : PWMSpeedController("Victor", channel) {
m_pwm.SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_2X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_Victor, GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "Victor", GetChannel());
}

13
wpilibc/src/main/native/cpp/VictorSP.cpp
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@@ -6,16 +6,13 @@
#include <hal/FRCUsageReporting.h>
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
VictorSP::VictorSP(int channel) : PWMSpeedController(channel) {
SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetSpeed(0.0);
SetZeroLatch();
VictorSP::VictorSP(int channel) : PWMSpeedController("VictorSP", channel) {
m_pwm.SetBounds(2.004, 1.52, 1.50, 1.48, 0.997);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel() + 1);
SendableRegistry::GetInstance().SetName(this, "VictorSP", GetChannel());
}

5
wpilibc/src/main/native/include/frc/MotorSafety.h
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@@ -5,11 +5,14 @@
#pragma once
#include <wpi/mutex.h>
#include <wpi/raw_ostream.h>
#include "frc/ErrorBase.h"
#include "frc/Timer.h"
namespace wpi {
class raw_ostream;
} // namespace wpi
namespace frc {
/**

13
wpilibc/src/main/native/include/frc/PWM.h
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@@ -7,9 +7,8 @@
#include <stdint.h>
#include <hal/Types.h>
#include <wpi/raw_ostream.h>
#include "frc/MotorSafety.h"
#include "frc/ErrorBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -34,7 +33,7 @@ class SendableBuilder;
* - 1 = minimum pulse width (currently 0.5ms)
* - 0 = disabled (i.e. PWM output is held low)
*/
class PWM : public MotorSafety, public Sendable, public SendableHelper<PWM> {
class PWM : public ErrorBase, public Sendable, public SendableHelper<PWM> {
public:
friend class AddressableLED;
/**
@@ -64,8 +63,10 @@ class PWM : public MotorSafety, public Sendable, public SendableHelper<PWM> {
*
* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the
* MXP port
* @param registerSendable If true, adds this instance to SendableRegistry
* and LiveWindow
*/
explicit PWM(int channel);
explicit PWM(int channel, bool registerSendable = true);
/**
* Free the PWM channel.
@@ -77,10 +78,6 @@ class PWM : public MotorSafety, public Sendable, public SendableHelper<PWM> {
PWM(PWM&&) = default;
PWM& operator=(PWM&&) = default;
// MotorSafety interface
void StopMotor() override;
void GetDescription(wpi::raw_ostream& desc) const override;
/**
* Set the PWM value directly to the hardware.
*

23
wpilibc/src/main/native/include/frc/PWMSpeedController.h
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@@ -4,15 +4,27 @@
#pragma once
#include <wpi/Twine.h>
#include "frc/MotorSafety.h"
#include "frc/PWM.h"
#include "frc/SpeedController.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
namespace wpi {
class raw_ostream;
} // namespace wpi
namespace frc {
/**
* Common base class for all PWM Speed Controllers.
*/
class PWMSpeedController : public PWM, public SpeedController {
class PWMSpeedController : public SpeedController,
public MotorSafety,
public Sendable,
public SendableHelper<PWMSpeedController> {
public:
PWMSpeedController(PWMSpeedController&&) = default;
PWMSpeedController& operator=(PWMSpeedController&&) = default;
@@ -42,7 +54,11 @@ class PWMSpeedController : public PWM, public SpeedController {
void Disable() override;
// MotorSafety interface
void StopMotor() override;
void GetDescription(wpi::raw_ostream& desc) const override;
int GetChannel() const;
/**
* Write out the PID value as seen in the PIDOutput base object.
@@ -55,13 +71,16 @@ class PWMSpeedController : public PWM, public SpeedController {
/**
* Constructor for a PWM Speed Controller connected via PWM.
*
* @param name Name to use for SendableRegistry
* @param channel The PWM channel that the controller is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
explicit PWMSpeedController(int channel);
PWMSpeedController(const wpi::Twine& name, int channel);
void InitSendable(SendableBuilder& builder) override;
PWM m_pwm;
private:
bool m_isInverted = false;
};

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/DMC60.java
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@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Digilent DMC 60 Speed Controller.
@@ -33,14 +32,13 @@ public class DMC60 extends PWMSpeedController {
* the MXP port
*/
public DMC60(final int channel) {
super(channel);
super("DMC60", channel);
setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
m_pwm.setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_DigilentDMC60, getChannel() + 1);
SendableRegistry.setName(this, "DMC60", getChannel());
}
}

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/Jaguar.java
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@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Texas Instruments / Vex Robotics Jaguar Speed Controller as a PWM device.
@@ -32,14 +31,13 @@ public class Jaguar extends PWMSpeedController {
* the MXP port
*/
public Jaguar(final int channel) {
super(channel);
super("Jaguar", channel);
setBounds(2.31, 1.55, 1.507, 1.454, 0.697);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
m_pwm.setBounds(2.31, 1.55, 1.507, 1.454, 0.697);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_Jaguar, getChannel() + 1);
SendableRegistry.setName(this, "Jaguar", getChannel());
}
}

33
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java
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@@ -23,7 +23,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
* center value - 999 to 2 = linear scaling from "center" to "full reverse" - 1 = minimum pulse
* width (currently .5ms) - 0 = disabled (i.e. PWM output is held low)
*/
public class PWM extends MotorSafety implements Sendable, AutoCloseable {
public class PWM implements Sendable, AutoCloseable {
/** Represents the amount to multiply the minimum servo-pulse pwm period by. */
public enum PeriodMultiplier {
/** Period Multiplier: don't skip pulses. PWM pulses occur every 5.005 ms */
@@ -42,9 +42,24 @@ public class PWM extends MotorSafety implements Sendable, AutoCloseable {
/**
* Allocate a PWM given a channel.
*
* <p>Checks channel value range and allocates the appropriate channel. The allocation is only
* done to help users ensure that they don't double assign channels.
*
* <p>By default, adds itself to SendableRegistry and LiveWindow.
*
* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
*/
public PWM(final int channel) {
this(channel, true);
}
/**
* Allocate a PWM given a channel.
*
* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
* @param registerSendable If true, adds this instance to SendableRegistry and LiveWindow
*/
public PWM(final int channel, final boolean registerSendable) {
SensorUtil.checkPWMChannel(channel);
m_channel = channel;
@@ -55,9 +70,9 @@ public class PWM extends MotorSafety implements Sendable, AutoCloseable {
PWMJNI.setPWMEliminateDeadband(m_handle, false);
HAL.report(tResourceType.kResourceType_PWM, channel + 1);
SendableRegistry.addLW(this, "PWM", channel);
setSafetyEnabled(false);
if (registerSendable) {
SendableRegistry.addLW(this, "PWM", channel);
}
}
/** Free the resource associated with the PWM channel and set the value to 0. */
@@ -72,16 +87,6 @@ public class PWM extends MotorSafety implements Sendable, AutoCloseable {
m_handle = 0;
}
@Override
public void stopMotor() {
setDisabled();
}
@Override
public String getDescription() {
return "PWM " + getChannel();
}
/**
* Optionally eliminate the deadband from a speed controller.
*

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSparkMax.java
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@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* REV Robotics SPARK MAX Speed Controller with PWM control.
@@ -28,14 +27,13 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
public class PWMSparkMax extends PWMSpeedController {
/** Common initialization code called by all constructors. */
public PWMSparkMax(final int channel) {
super(channel);
super("PWMSparkMax", channel);
setBounds(2.003, 1.55, 1.50, 1.46, 0.999);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
m_pwm.setBounds(2.003, 1.55, 1.50, 1.46, 0.999);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_RevSparkMaxPWM, getChannel() + 1);
SendableRegistry.setName(this, "PWMSparkMax", getChannel());
}
}

46
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMSpeedController.java
View File

@@ -5,24 +5,31 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/** Common base class for all PWM Speed Controllers. */
public abstract class PWMSpeedController extends PWM implements SpeedController {
public abstract class PWMSpeedController extends MotorSafety
implements SpeedController, Sendable, AutoCloseable {
private boolean m_isInverted;
protected PWM m_pwm;
/**
* Constructor.
*
* @param name Name to use for SendableRegistry
* @param channel The PWM channel that the controller is attached to. 0-9 are on-board, 10-19 are
* on the MXP port
*/
protected PWMSpeedController(int channel) {
super(channel);
protected PWMSpeedController(final String name, final int channel) {
m_pwm = new PWM(channel, false);
SendableRegistry.addLW(this, name, channel);
}
/** Free the resource associated with the PWM channel and set the value to 0. */
@Override
public String getDescription() {
return "PWM " + getChannel();
public void close() {
SendableRegistry.remove(this);
m_pwm.close();
}
/**
@@ -35,7 +42,7 @@ public abstract class PWMSpeedController extends PWM implements SpeedController
*/
@Override
public void set(double speed) {
setSpeed(m_isInverted ? -speed : speed);
m_pwm.setSpeed(m_isInverted ? -speed : speed);
feed();
}
@@ -48,7 +55,7 @@ public abstract class PWMSpeedController extends PWM implements SpeedController
*/
@Override
public double get() {
return getSpeed() * (m_isInverted ? -1.0 : 1.0);
return m_pwm.getSpeed() * (m_isInverted ? -1.0 : 1.0);
}
@Override
@@ -63,7 +70,26 @@ public abstract class PWMSpeedController extends PWM implements SpeedController
@Override
public void disable() {
setDisabled();
m_pwm.setDisabled();
}
@Override
public void stopMotor() {
disable();
}
@Override
public String getDescription() {
return "PWM " + getChannel();
}
/**
* Gets the PWM channel number.
*
* @return The channel number.
*/
public int getChannel() {
return m_pwm.getChannel();
}
/**
@@ -80,7 +106,7 @@ public abstract class PWMSpeedController extends PWM implements SpeedController
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("Speed Controller");
builder.setActuator(true);
builder.setSafeState(this::setDisabled);
builder.addDoubleProperty("Value", this::getSpeed, this::setSpeed);
builder.setSafeState(this::disable);
builder.addDoubleProperty("Value", this::get, this::set);
}
}

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonFX.java
View File

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Cross the Road Electronics (CTRE) Talon FX Speed Controller with PWM control.
@@ -33,14 +32,13 @@ public class PWMTalonFX extends PWMSpeedController {
* the MXP port
*/
public PWMTalonFX(final int channel) {
super(channel);
super("PWMTalonFX", channel);
setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
m_pwm.setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_TalonFX, getChannel() + 1);
SendableRegistry.setName(this, "PWMTalonFX", getChannel());
}
}

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java
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@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control.
@@ -33,14 +32,13 @@ public class PWMTalonSRX extends PWMSpeedController {
* on the MXP port
*/
public PWMTalonSRX(final int channel) {
super(channel);
super("PWMTalonSRX", channel);
setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
m_pwm.setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_PWMTalonSRX, getChannel() + 1);
SendableRegistry.setName(this, "PWMTalonSRX", getChannel());
}
}

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVenom.java
View File

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Playing with Fusion Venom Smart Motor with PWM control.
@@ -32,14 +31,13 @@ public class PWMVenom extends PWMSpeedController {
* the MXP port
*/
public PWMVenom(final int channel) {
super(channel);
super("PWMVenom", channel);
setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
m_pwm.setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_FusionVenom, getChannel() + 1);
SendableRegistry.setName(this, "PWMVenom", getChannel());
}
}

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMVictorSPX.java
View File

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Cross the Road Electronics (CTRE) Victor SPX Speed Controller with PWM control.
@@ -33,14 +32,13 @@ public class PWMVictorSPX extends PWMSpeedController {
* are on the MXP port
*/
public PWMVictorSPX(final int channel) {
super(channel);
super("PWMVictorSPX", channel);
setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
m_pwm.setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_PWMVictorSPX, getChannel() + 1);
SendableRegistry.setName(this, "PWMVictorSPX", getChannel());
}
}

22
wpilibj/src/main/java/edu/wpi/first/wpilibj/SD540.java
View File

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Mindsensors SD540 Speed Controller.
@@ -26,17 +25,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
* </ul>
*/
public class SD540 extends PWMSpeedController {
/** Common initialization code called by all constructors. */
protected void initSD540() {
setBounds(2.05, 1.55, 1.50, 1.44, 0.94);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
HAL.report(tResourceType.kResourceType_MindsensorsSD540, getChannel() + 1);
SendableRegistry.setName(this, "SD540", getChannel());
}
/**
* Constructor.
*
@@ -44,7 +32,13 @@ public class SD540 extends PWMSpeedController {
* the MXP port
*/
public SD540(final int channel) {
super(channel);
initSD540();
super("SD540", channel);
m_pwm.setBounds(2.05, 1.55, 1.50, 1.44, 0.94);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_MindsensorsSD540, getChannel() + 1);
}
}

22
wpilibj/src/main/java/edu/wpi/first/wpilibj/Spark.java
View File

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* REV Robotics SPARK Speed Controller.
@@ -26,17 +25,6 @@ import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
* </ul>
*/
public class Spark extends PWMSpeedController {
/** Common initialization code called by all constructors. */
protected void initSpark() {
setBounds(2.003, 1.55, 1.50, 1.46, 0.999);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
HAL.report(tResourceType.kResourceType_RevSPARK, getChannel() + 1);
SendableRegistry.setName(this, "Spark", getChannel());
}
/**
* Constructor.
*
@@ -44,7 +32,13 @@ public class Spark extends PWMSpeedController {
* the MXP port
*/
public Spark(final int channel) {
super(channel);
initSpark();
super("Spark", channel);
m_pwm.setBounds(2.003, 1.55, 1.50, 1.46, 0.999);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_RevSPARK, getChannel() + 1);
}
}

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/Talon.java
View File

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Cross the Road Electronics (CTRE) Talon and Talon SR Speed Controller.
@@ -32,14 +31,13 @@ public class Talon extends PWMSpeedController {
* the MXP port
*/
public Talon(final int channel) {
super(channel);
super("Talon", channel);
setBounds(2.037, 1.539, 1.513, 1.487, 0.989);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
m_pwm.setBounds(2.037, 1.539, 1.513, 1.487, 0.989);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_Talon, getChannel() + 1);
SendableRegistry.setName(this, "Talon", getChannel());
}
}

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/Victor.java
View File

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* VEX Robotics Victor 888 Speed Controller The Vex Robotics Victor 884 Speed Controller can also be
@@ -35,14 +34,13 @@ public class Victor extends PWMSpeedController {
* the MXP port
*/
public Victor(final int channel) {
super(channel);
super("Victor", channel);
setBounds(2.027, 1.525, 1.507, 1.49, 1.026);
setPeriodMultiplier(PeriodMultiplier.k2X);
setSpeed(0.0);
setZeroLatch();
m_pwm.setBounds(2.027, 1.525, 1.507, 1.49, 1.026);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k2X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_Victor, getChannel() + 1);
SendableRegistry.setName(this, "Victor", getChannel());
}
}

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/VictorSP.java
View File

@@ -6,7 +6,6 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* VEX Robotics Victor SP Speed Controller.
@@ -33,14 +32,13 @@ public class VictorSP extends PWMSpeedController {
* the MXP port
*/
public VictorSP(final int channel) {
super(channel);
super("VictorSP", channel);
setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
setPeriodMultiplier(PeriodMultiplier.k1X);
setSpeed(0.0);
setZeroLatch();
m_pwm.setBounds(2.004, 1.52, 1.50, 1.48, 0.997);
m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
m_pwm.setSpeed(0.0);
m_pwm.setZeroLatch();
HAL.report(tResourceType.kResourceType_VictorSP, getChannel() + 1);
SendableRegistry.setName(this, "VictorSP", getChannel());
}
}