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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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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());
}