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https://github.com/wpilibsuite/allwpilib
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Remove CANSpeedController interface. (#806)
CANJaguar is no longer supported, and CANTalon no longer uses this interface.
This commit is contained in:
Peter Johnson
@@ -1,115 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2017 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include "SpeedController.h"
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namespace frc {
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/**
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* Interface for "smart" CAN-based speed controllers.
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*/
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class CANSpeedController : public SpeedController {
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public:
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enum ControlMode {
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kPercentVbus = 0,
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kCurrent = 1,
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kSpeed = 2,
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kPosition = 3,
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kVoltage = 4,
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kFollower = 5,
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kMotionProfile = 6,
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};
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// Helper function for the ControlMode enum
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virtual bool IsModePID(ControlMode mode) const = 0;
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enum Faults {
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kCurrentFault = 1,
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kTemperatureFault = 2,
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kBusVoltageFault = 4,
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kGateDriverFault = 8,
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// SRX extensions
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kFwdLimitSwitch = 0x10,
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kRevLimitSwitch = 0x20,
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kFwdSoftLimit = 0x40,
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kRevSoftLimit = 0x80,
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};
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enum Limits { kForwardLimit = 1, kReverseLimit = 2 };
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enum NeutralMode {
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/**
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* Use the NeutralMode that is set by the jumper wire on the CAN device
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*/
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kNeutralMode_Jumper = 0,
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/**
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* Stop the motor's rotation by applying a force.
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*/
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kNeutralMode_Brake = 1,
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/**
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* Do not attempt to stop the motor. Instead allow it to coast to a stop
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* without applying resistance.
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*/
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kNeutralMode_Coast = 2
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};
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enum LimitMode {
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/**
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* Only use switches for limits
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*/
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kLimitMode_SwitchInputsOnly = 0,
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/**
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* Use both switches and soft limits
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*/
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kLimitMode_SoftPositionLimits = 1,
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// SRX extensions
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/**
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* Disable switches and disable soft limits
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*/
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kLimitMode_SrxDisableSwitchInputs = 2,
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};
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virtual double Get() const = 0;
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virtual void Set(double value) = 0;
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virtual void StopMotor() = 0;
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virtual void Disable() = 0;
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virtual void SetP(double p) = 0;
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virtual void SetI(double i) = 0;
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virtual void SetD(double d) = 0;
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virtual void SetPID(double p, double i, double d) = 0;
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virtual double GetP() const = 0;
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virtual double GetI() const = 0;
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virtual double GetD() const = 0;
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virtual double GetBusVoltage() const = 0;
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virtual double GetOutputVoltage() const = 0;
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virtual double GetOutputCurrent() const = 0;
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virtual double GetTemperature() const = 0;
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virtual double GetPosition() const = 0;
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virtual double GetSpeed() const = 0;
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virtual bool GetForwardLimitOK() const = 0;
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virtual bool GetReverseLimitOK() const = 0;
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virtual uint16_t GetFaults() const = 0;
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virtual void SetVoltageRampRate(double rampRate) = 0;
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virtual int GetFirmwareVersion() const = 0;
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virtual void ConfigNeutralMode(NeutralMode mode) = 0;
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virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
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virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
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virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
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double reverseLimitPosition) = 0;
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virtual void DisableSoftPositionLimits() = 0;
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virtual void ConfigLimitMode(LimitMode mode) = 0;
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virtual void ConfigForwardLimit(double forwardLimitPosition) = 0;
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virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
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virtual void ConfigMaxOutputVoltage(double voltage) = 0;
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virtual void ConfigFaultTime(double faultTime) = 0;
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};
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} // namespace frc
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@@ -1,146 +0,0 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2017 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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package edu.wpi.first.wpilibj;
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import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
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public interface CANSpeedController extends SpeedController, PIDInterface, LiveWindowSendable {
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/**
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* Mode determines how the motor is controlled, used internally. This is meant to be subclassed by
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* enums
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*
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* <p>Note that the Jaguar does not support follower mode.
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*/
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interface ControlMode {
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/**
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* Gets the name of this control mode. Since this interface should only be subclassed by
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* enumerations, this will be overridden by the builtin name() method.
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*/
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String name();
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/**
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* Checks if this control mode is PID-compatible.
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*/
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boolean isPID();
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/**
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* Gets the integer value of this control mode.
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*/
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int getValue();
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}
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/**
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* Gets the current control mode.
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*
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* @return the current control mode
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*/
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ControlMode getControlMode();
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/**
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* Sets the control mode of this speed controller.
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*
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* @param mode the the new mode
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*/
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void setControlMode(int mode);
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/**
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* Set the proportional PID constant.
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*/
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@SuppressWarnings("ParameterName")
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void setP(double p);
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/**
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* Set the integral PID constant.
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*/
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@SuppressWarnings("ParameterName")
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void setI(double i);
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/**
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* Set the derivative PID constant.
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*/
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@SuppressWarnings("ParameterName")
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void setD(double d);
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/**
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* Set the feed-forward PID constant. This method is optional to implement.
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*/
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@SuppressWarnings("ParameterName")
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default void setF(double f) {
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}
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/**
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* Gets the feed-forward PID constant. This method is optional to implement. If a subclass does
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* not implement this, it will always return zero.
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*/
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default double getF() {
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return 0.0;
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}
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/**
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* Get the current input (battery) voltage.
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*
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* @return the input voltage to the controller (in Volts).
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*/
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double getBusVoltage();
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/**
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* Get the current output voltage.
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*
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* @return the output voltage to the motor in volts.
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*/
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double getOutputVoltage();
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/**
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* Get the current being applied to the motor.
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*
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* @return the current motor current (in Amperes).
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*/
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double getOutputCurrent();
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/**
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* Get the current temperature of the controller.
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*
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* @return the current temperature of the controller, in degrees Celsius.
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*/
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double getTemperature();
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/**
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* Return the current position of whatever the current selected sensor is.
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*
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* <p>See specific implementations for more information on selecting feedback sensors.
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*
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* @return the current sensor position.
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*/
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double getPosition();
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/**
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* Return the current velocity of whatever the current selected sensor is.
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*
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* <p>See specific implementations for more information on selecting feedback sensors.
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*
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* @return the current sensor velocity.
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*/
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double getSpeed();
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/**
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* Set the maximum rate of change of the output voltage.
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*
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* @param rampRate the maximum rate of change of the voltage, in Volts / sec.
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*/
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void setVoltageRampRate(double rampRate);
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/**
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* All CAN Speed Controllers have the same SmartDashboard type: "CANSpeedController".
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*/
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String SMART_DASHBOARD_TYPE = "CANSpeedController";
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@Override
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default String getSmartDashboardType() {
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return SMART_DASHBOARD_TYPE;
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}
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}
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