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[wpilib][hal] PWM Raw using microseconds (#5283)

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Co-authored-by: Joe <sciencewhiz@users.noreply.github.com>
This commit is contained in:
Thad House
2023-06-22 19:43:16 -07:00
committed by GitHub
parent 1fca519fb4
commit c1a01569b4
56 changed files with 374 additions and 466 deletions
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10
hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java
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@@ -15,18 +15,18 @@ public class PWMConfigDataResult {
this.min = min;
}
/** The maximum PWM value. */
/** The maximum PWM value in microseconds. */
public int max;
/** The deadband maximum PWM value. */
/** The deadband maximum PWM value in microseconds. */
public int deadbandMax;
/** The center PWM value. */
/** The center PWM value in microseconds. */
public int center;
/** The deadband minimum PWM value. */
/** The deadband minimum PWM value in microseconds. */
public int deadbandMin;
/** The minimum PWM value. */
/** The minimum PWM value in microseconds. */
public int min;
}

18
hal/src/main/java/edu/wpi/first/hal/PWMJNI.java
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@@ -11,7 +11,7 @@ public class PWMJNI extends DIOJNI {
public static native void freePWMPort(int pwmPortHandle);
public static native void setPWMConfigRaw(
public static native void setPWMConfigMicroseconds(
int pwmPortHandle,
int maxPwm,
int deadbandMaxPwm,
@@ -19,27 +19,19 @@ public class PWMJNI extends DIOJNI {
int deadbandMinPwm,
int minPwm);
public static native void setPWMConfig(
int pwmPortHandle,
double maxPwm,
double deadbandMaxPwm,
double centerPwm,
double deadbandMinPwm,
double minPwm);
public static native PWMConfigDataResult getPWMConfigRaw(int pwmPortHandle);
public static native PWMConfigDataResult getPWMConfigMicroseconds(int pwmPortHandle);
public static native void setPWMEliminateDeadband(int pwmPortHandle, boolean eliminateDeadband);
public static native boolean getPWMEliminateDeadband(int pwmPortHandle);
public static native void setPWMRaw(int pwmPortHandle, short value);
public static native void setPulseTimeMicroseconds(int pwmPortHandle, int microsecondPulseTime);
public static native void setPWMSpeed(int pwmPortHandle, double speed);
public static native void setPWMPosition(int pwmPortHandle, double position);
public static native short getPWMRaw(int pwmPortHandle);
public static native int getPulseTimeMicroseconds(int pwmPortHandle);
public static native double getPWMSpeed(int pwmPortHandle);
@@ -49,5 +41,7 @@ public class PWMJNI extends DIOJNI {
public static native void latchPWMZero(int pwmPortHandle);
public static native void setAlwaysHighMode(int pwmPortHandle);
public static native void setPWMPeriodScale(int pwmPortHandle, int squelchMask);
}

8
hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java
View File

@@ -16,14 +16,14 @@ public class PWMDataJNI extends JNIWrapper {
public static native void setInitialized(int index, boolean initialized);
public static native int registerRawValueCallback(
public static native int registerPulseMicrosecondCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelRawValueCallback(int index, int uid);
public static native void cancelPulseMicrosecondCallback(int index, int uid);
public static native int getRawValue(int index);
public static native int getPulseMicrosecond(int index);
public static native void setRawValue(int index, int rawValue);
public static native void setPulseMicrosecond(int index, int microsecondPulseTime);
public static native int registerSpeedCallback(
int index, NotifyCallback callback, boolean initialNotify);