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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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67
hal/src/main/native/cpp/jni/PWMJNI.cpp
View File

@@ -63,43 +63,27 @@ Java_edu_wpi_first_hal_PWMJNI_freePWMPort
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: setPWMConfigRaw
* Method: setPWMConfigMicroseconds
* Signature: (IIIIII)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PWMJNI_setPWMConfigRaw
Java_edu_wpi_first_hal_PWMJNI_setPWMConfigMicroseconds
(JNIEnv* env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm,
jint centerPwm, jint deadbandMinPwm, jint minPwm)
{
int32_t status = 0;
HAL_SetPWMConfigRaw((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm, &status);
HAL_SetPWMConfigMicroseconds((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm,
centerPwm, deadbandMinPwm, minPwm, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: setPWMConfig
* Signature: (IDDDDD)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PWMJNI_setPWMConfig
(JNIEnv* env, jclass, jint id, jdouble maxPwm, jdouble deadbandMaxPwm,
jdouble centerPwm, jdouble deadbandMinPwm, jdouble minPwm)
{
int32_t status = 0;
HAL_SetPWMConfig((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: getPWMConfigRaw
* Method: getPWMConfigMicroseconds
* Signature: (I)Ljava/lang/Object;
*/
JNIEXPORT jobject JNICALL
Java_edu_wpi_first_hal_PWMJNI_getPWMConfigRaw
Java_edu_wpi_first_hal_PWMJNI_getPWMConfigMicroseconds
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
@@ -108,8 +92,8 @@ Java_edu_wpi_first_hal_PWMJNI_getPWMConfigRaw
int32_t centerPwm = 0;
int32_t deadbandMinPwm = 0;
int32_t minPwm = 0;
HAL_GetPWMConfigRaw((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm,
&centerPwm, &deadbandMinPwm, &minPwm, &status);
HAL_GetPWMConfigMicroseconds((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm,
&centerPwm, &deadbandMinPwm, &minPwm, &status);
CheckStatus(env, status);
return CreatePWMConfigDataResult(env, maxPwm, deadbandMaxPwm, centerPwm,
deadbandMinPwm, minPwm);
@@ -146,15 +130,15 @@ Java_edu_wpi_first_hal_PWMJNI_getPWMEliminateDeadband
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: setPWMRaw
* Signature: (IS)V
* Method: setPulseTimeMicroseconds
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PWMJNI_setPWMRaw
(JNIEnv* env, jclass, jint id, jshort value)
Java_edu_wpi_first_hal_PWMJNI_setPulseTimeMicroseconds
(JNIEnv* env, jclass, jint id, jint value)
{
int32_t status = 0;
HAL_SetPWMRaw((HAL_DigitalHandle)id, value, &status);
HAL_SetPWMPulseTimeMicroseconds((HAL_DigitalHandle)id, value, &status);
CheckStatus(env, status);
}
@@ -188,15 +172,16 @@ Java_edu_wpi_first_hal_PWMJNI_setPWMPosition
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: getPWMRaw
* Signature: (I)S
* Method: getPulseTimeMicroseconds
* Signature: (I)I
*/
JNIEXPORT jshort JNICALL
Java_edu_wpi_first_hal_PWMJNI_getPWMRaw
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_PWMJNI_getPulseTimeMicroseconds
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
jshort returnValue = HAL_GetPWMRaw((HAL_DigitalHandle)id, &status);
int32_t returnValue =
HAL_GetPWMPulseTimeMicroseconds((HAL_DigitalHandle)id, &status);
CheckStatus(env, status);
return returnValue;
}
@@ -259,6 +244,20 @@ Java_edu_wpi_first_hal_PWMJNI_latchPWMZero
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: setAlwaysHighMode
* Signature: (I)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_PWMJNI_setAlwaysHighMode
(JNIEnv* env, jclass, jint id)
{
int32_t status = 0;
HAL_SetPWMAlwaysHighMode((HAL_DigitalHandle)id, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_PWMJNI
* Method: setPWMPeriodScale

24
hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp
View File

@@ -64,52 +64,52 @@ Java_edu_wpi_first_hal_simulation_PWMDataJNI_setInitialized
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: registerRawValueCallback
* Method: registerPulseMicrosecondCallback
* Signature: (ILjava/lang/Object;Z)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerRawValueCallback
Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerPulseMicrosecondCallback
(JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify)
{
return sim::AllocateCallback(env, index, callback, initialNotify,
&HALSIM_RegisterPWMRawValueCallback);
&HALSIM_RegisterPWMPulseMicrosecondCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: cancelRawValueCallback
* Method: cancelPulseMicrosecondCallback
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelRawValueCallback
Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelPulseMicrosecondCallback
(JNIEnv* env, jclass, jint index, jint handle)
{
return sim::FreeCallback(env, handle, index,
&HALSIM_CancelPWMRawValueCallback);
&HALSIM_CancelPWMPulseMicrosecondCallback);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: getRawValue
* Method: getPulseMicrosecond
* Signature: (I)I
*/
JNIEXPORT jint JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getRawValue
Java_edu_wpi_first_hal_simulation_PWMDataJNI_getPulseMicrosecond
(JNIEnv*, jclass, jint index)
{
return HALSIM_GetPWMRawValue(index);
return HALSIM_GetPWMPulseMicrosecond(index);
}
/*
* Class: edu_wpi_first_hal_simulation_PWMDataJNI
* Method: setRawValue
* Method: setPulseMicrosecond
* Signature: (II)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setRawValue
Java_edu_wpi_first_hal_simulation_PWMDataJNI_setPulseMicrosecond
(JNIEnv*, jclass, jint index, jint value)
{
HALSIM_SetPWMRawValue(index, value);
HALSIM_SetPWMPulseMicrosecond(index, value);
}
/*