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[wpilib] Pregenerate PWM motor controllers (#6742)

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Co-authored-by: Gold856 <117957790+Gold856@users.noreply.github.com>
This commit is contained in:
PJ Reiniger
2024-06-18 10:43:08 -04:00
committed by GitHub
parent 66c0abb732
commit b6bd798f9e
49 changed files with 790 additions and 271 deletions
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20
wpilibc/src/generate/main/native/cpp/motorcontroller/pwm_motor_controller.cpp.jinja Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
#include "frc/motorcontrol/{{ name }}.h"
#include <hal/FRCUsageReporting.h>
using namespace frc;
{{ name }}::{{ name }}(int channel) : PWMMotorController("{{ name }}", channel) {
m_pwm.SetBounds({{ pulse_width_ms.max }}_ms, {{ pulse_width_ms.deadbandMax }}_ms, {{ pulse_width_ms.center }}_ms, {{ pulse_width_ms.deadbandMin }}_ms, {{ pulse_width_ms.min }}_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_{{ PeriodMultiplier | default("1", true)}}X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_{{ ResourceName }}, GetChannel() + 1);
}

43
wpilibc/src/generate/main/native/include/frc/motorcontroller/pwm_motor_controller.h.jinja Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
#pragma once
#include "frc/motorcontrol/PWMMotorController.h"
namespace frc {
/**
* {{ Manufacturer }} {{ DisplayName }} Motor Controller with PWM control.
*
* Note that the {{ DisplayName }} 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 {{ DisplayName }} User
* Manual available from {{ Manufacturer }}.
*
* \li {{ "{:.3f}".format(pulse_width_ms.max) }}ms = full "forward"
* \li {{ "{:.3f}".format(pulse_width_ms.deadbandMax) }}ms = the "high end" of the deadband range
* \li {{ "{:.3f}".format(pulse_width_ms.center) }}ms = center of the deadband range (off)
* \li {{ "{:.3f}".format(pulse_width_ms.deadbandMin) }}ms = the "low end" of the deadband range
* \li {{ "{:.3f}".format(pulse_width_ms.min) }}ms = full "reverse"
*/
class {{ name }} : public PWMMotorController {
public:
/**
* Constructor for a {{ DisplayName }} connected via PWM.
*
* @param channel The PWM channel that the {{ DisplayName }} is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
explicit {{ name }}(int channel);
{{ name }}({{ name }}&&) = default;
{{ name }}& operator=({{ name }}&&) = default;
};
} // namespace frc