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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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8
wpilibc/src/main/native/cpp/Servo.cpp
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@@ -13,12 +13,12 @@ using namespace frc;
constexpr double Servo::kMaxServoAngle;
constexpr double Servo::kMinServoAngle;
constexpr double Servo::kDefaultMaxServoPWM;
constexpr double Servo::kDefaultMinServoPWM;
constexpr units::millisecond_t Servo::kDefaultMaxServoPWM;
constexpr units::millisecond_t Servo::kDefaultMinServoPWM;
Servo::Servo(int channel) : PWM(channel) {
// Set minimum and maximum PWM values supported by the servo
SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
SetBounds(kDefaultMaxServoPWM, 0.0_ms, 0.0_ms, 0.0_ms, kDefaultMinServoPWM);
// Assign defaults for period multiplier for the servo PWM control signal
SetPeriodMultiplier(kPeriodMultiplier_4X);
@@ -32,7 +32,7 @@ void Servo::Set(double value) {
}
void Servo::SetOffline() {
SetRaw(0);
SetDisabled();
}
double Servo::Get() const {