Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-04 03:11:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Changes TalonSRX to PWMTalonSRX in wpilibj and wpilibc. (#656)

Browse Source 
Also brings the java kResourceType list up-to-date with the cpp list.
This commit is contained in:
Jacob Caporuscio
2017-10-11 15:01:50 -04:00
committed by Peter Johnson
parent 79919a5f1c
commit ba3a85d0cc
6 changed files with 24 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
hal/src/main/native/include/HAL/UsageReporting.h
View File

@@ -71,7 +71,7 @@ namespace nUsageReporting
kResourceType_SRF08,
kResourceType_AnalogOutput,
kResourceType_VictorSP, // 50
kResourceType_TalonSRX,
kResourceType_PWMTalonSRX,
kResourceType_CANTalonSRX,
kResourceType_ADXL362,
kResourceType_ADXRS450,

14
wpilibc/src/main/native/cpp/TalonSRX.cpp → wpilibc/src/main/native/cpp/PWMTalonSRX.cpp
View File

@@ -5,7 +5,7 @@
/* the project. */
/*----------------------------------------------------------------------------*/
#include "TalonSRX.h"
#include "PWMTalonSRX.h"
#include <HAL/HAL.h>
@@ -14,13 +14,13 @@
using namespace frc;
/**
* Construct a TalonSRX connected via PWM.
* Construct a PWMTalonSRX connected via PWM.
*
* @param channel The PWM channel that the TalonSRX is attached to. 0-9 are
* @param channel The PWM channel that the PWMTalonSRX is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
TalonSRX::TalonSRX(int channel) : PWMSpeedController(channel) {
/* Note that the TalonSRX uses the following bounds for PWM values. These
PWMTalonSRX::PWMTalonSRX(int channel) : PWMSpeedController(channel) {
/* Note that the PWMTalonSRX 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
@@ -37,6 +37,6 @@ TalonSRX::TalonSRX(int channel) : PWMSpeedController(channel) {
SetSpeed(0.0);
SetZeroLatch();
HAL_Report(HALUsageReporting::kResourceType_TalonSRX, GetChannel());
LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this);
HAL_Report(HALUsageReporting::kResourceType_PWMTalonSRX, GetChannel());
LiveWindow::GetInstance()->AddActuator("PWMTalonSRX", GetChannel(), this);
}

6
wpilibc/src/main/native/include/TalonSRX.h → wpilibc/src/main/native/include/PWMTalonSRX.h
View File

@@ -14,10 +14,10 @@ namespace frc {
/**
* Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control
*/
class TalonSRX : public PWMSpeedController {
class PWMTalonSRX : public PWMSpeedController {
public:
explicit TalonSRX(int channel);
virtual ~TalonSRX() = default;
explicit PWMTalonSRX(int channel);
virtual ~PWMTalonSRX() = default;
};
} // namespace frc

2
wpilibc/src/main/native/include/WPILib.h
View File

@@ -61,6 +61,7 @@
#include "PIDSource.h"
#include "PWM.h"
#include "PWMSpeedController.h"
#include "PWMTalonSRX.h"
#include "PowerDistributionPanel.h"
#include "Preferences.h"
#include "Relay.h"
@@ -78,7 +79,6 @@
#include "Spark.h"
#include "SpeedController.h"
#include "Talon.h"
#include "TalonSRX.h"
#include "Threads.h"
#include "TimedRobot.h"
#include "Timer.h"

14
wpilibj/src/main/java/edu/wpi/first/wpilibj/TalonSRX.java → wpilibj/src/main/java/edu/wpi/first/wpilibj/PWMTalonSRX.java
View File

@@ -14,12 +14,12 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
/**
* Cross the Road Electronics (CTRE) Talon SRX Speed Controller with PWM control.
*/
public class TalonSRX extends PWMSpeedController {
public class PWMTalonSRX extends PWMSpeedController {
/**
* Constructor for a TalonSRX connected via PWM.
* Constructor for a PWMTalonSRX connected via PWM.
*
* <p>Note that the TalonSRX uses the following bounds for PWM values. These values should work
* <p>Note that the PWMTalonSRX 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 TalonSRX User Manual
@@ -30,10 +30,10 @@ public class TalonSRX extends PWMSpeedController {
* of the deadband range (off) - 1.48ms = the "low end" of the deadband range - .997ms = full
* "reverse"
*
* @param channel The PWM channel that the TalonSRX is attached to. 0-9 are on-board, 10-19 are
* @param channel The PWM channel that the PWMTalonSRX is attached to. 0-9 are on-board, 10-19 are
* on the MXP port
*/
public TalonSRX(final int channel) {
public PWMTalonSRX(final int channel) {
super(channel);
setBounds(2.004, 1.52, 1.50, 1.48, .997);
@@ -41,7 +41,7 @@ public class TalonSRX extends PWMSpeedController {
setSpeed(0.0);
setZeroLatch();
LiveWindow.addActuator("TalonSRX", getChannel(), this);
HAL.report(tResourceType.kResourceType_TalonSRX, getChannel());
LiveWindow.addActuator("PWMTalonSRX", getChannel(), this);
HAL.report(tResourceType.kResourceType_PWMTalonSRX, getChannel());
}
}

6
wpilibj/src/main/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java
View File

@@ -96,13 +96,17 @@ public class FRCNetComm extends JNIWrapper {
int kResourceType_SRF08 = 48;
int kResourceType_AnalogOutput = 49;
int kResourceType_VictorSP = 50;
int kResourceType_TalonSRX = 51;
int kResourceType_PWMTalonSRX = 51;
int kResourceType_CANTalonSRX = 52;
int kResourceType_ADXL362 = 53;
int kResourceType_ADXRS450 = 54;
int kResourceType_RevSPARK = 55;
int kResourceType_MindsensorsSD540 = 56;
int kResourceType_DigitalFilter = 57;
int kResourceType_ADIS16448 = 58;
int kResourceType_PDP = 59;
int kResourceType_PCM = 60;
int kResourceType_PigeonIMU = 61;
}
/**