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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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48
wpilibc/src/main/native/cpp/PWM.cpp
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@@ -54,18 +54,18 @@ PWM::~PWM() {
FRC_ReportError(status, "Channel {}", m_channel);
}
void PWM::SetRaw(uint16_t value) {
void PWM::SetPulseTime(units::microsecond_t time) {
int32_t status = 0;
HAL_SetPWMRaw(m_handle, value, &status);
HAL_SetPWMPulseTimeMicroseconds(m_handle, time.value(), &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
uint16_t PWM::GetRaw() const {
units::microsecond_t PWM::GetPulseTime() const {
int32_t status = 0;
uint16_t value = HAL_GetPWMRaw(m_handle, &status);
double value = HAL_GetPWMPulseTimeMicroseconds(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
return value;
return units::microsecond_t{value};
}
void PWM::SetPosition(double pos) {
@@ -135,27 +135,37 @@ void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void PWM::SetBounds(double max, double deadbandMax, double center,
double deadbandMin, double min) {
void PWM::SetBounds(units::microsecond_t max, units::microsecond_t deadbandMax,
units::microsecond_t center,
units::microsecond_t deadbandMin,
units::microsecond_t min) {
int32_t status = 0;
HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
HAL_SetPWMConfigMicroseconds(m_handle, max.value(), deadbandMax.value(),
center.value(), deadbandMin.value(), min.value(),
&status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
int min) {
void PWM::GetBounds(units::microsecond_t* max,
units::microsecond_t* deadbandMax,
units::microsecond_t* center,
units::microsecond_t* deadbandMin,
units::microsecond_t* min) {
int32_t status = 0;
HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
int32_t rawMax, rawDeadbandMax, rawCenter, rawDeadbandMin, rawMin;
HAL_GetPWMConfigMicroseconds(m_handle, &rawMax, &rawDeadbandMax, &rawCenter,
&rawDeadbandMin, &rawMin, &status);
*max = units::microsecond_t{static_cast<double>(rawMax)};
*deadbandMax = units::microsecond_t{static_cast<double>(rawDeadbandMax)};
*center = units::microsecond_t{static_cast<double>(rawCenter)};
*deadbandMin = units::microsecond_t{static_cast<double>(rawDeadbandMin)};
*min = units::microsecond_t{static_cast<double>(rawMin)};
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
void PWM::GetRawBounds(int* max, int* deadbandMax, int* center,
int* deadbandMin, int* min) {
void PWM::SetAlwaysHighMode() {
int32_t status = 0;
HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
&status);
HAL_SetPWMAlwaysHighMode(m_handle, &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}
@@ -168,6 +178,6 @@ void PWM::InitSendable(wpi::SendableBuilder& builder) {
builder.SetActuator(true);
builder.SetSafeState([=, this] { SetDisabled(); });
builder.AddDoubleProperty(
"Value", [=, this] { return GetRaw(); },
[=, this](double value) { SetRaw(value); });
"Value", [=, this] { return GetPulseTime().value(); },
[=, this](double value) { SetPulseTime(units::millisecond_t{value}); });
}