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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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101
wpilibc/src/main/native/include/frc/PWM.h
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@@ -7,6 +7,7 @@
#include <stdint.h>
#include <hal/Types.h>
#include <units/time.h>
#include <wpi/sendable/Sendable.h>
#include <wpi/sendable/SendableHelper.h>
@@ -18,18 +19,9 @@ class DMA;
* Class implements the PWM generation in the FPGA.
*
* The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They
* are mapped to the hardware dependent values, in this case 0-2000 for the
* FPGA. Changes are immediately sent to the FPGA, and the update occurs at the
* next FPGA cycle (5.005ms). There is no delay.
*
* As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-2000 values as
* follows:
* - 2000 = maximum pulse width
* - 1999 to 1001 = linear scaling from "full forward" to "center"
* - 1000 = center value
* - 999 to 2 = linear scaling from "center" to "full reverse"
* - 1 = minimum pulse width (currently 0.5ms)
* - 0 = disabled (i.e. PWM output is held low)
* are mapped to the microseconds to keep the pulse high, with a range of 0
* (off) to 4096. Changes are immediately sent to the FPGA, and the update
* occurs at the next FPGA cycle (5.05ms). There is no delay.
*/
class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
public:
@@ -40,15 +32,15 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
*/
enum PeriodMultiplier {
/**
* Don't skip pulses. PWM pulses occur every 5.005 ms
* Don't skip pulses. PWM pulses occur every 5.05 ms
*/
kPeriodMultiplier_1X = 1,
/**
* Skip every other pulse. PWM pulses occur every 10.010 ms
* Skip every other pulse. PWM pulses occur every 10.10 ms
*/
kPeriodMultiplier_2X = 2,
/**
* Skip three out of four pulses. PWM pulses occur every 20.020 ms
* Skip three out of four pulses. PWM pulses occur every 20.20 ms
*/
kPeriodMultiplier_4X = 4
};
@@ -78,30 +70,29 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
PWM& operator=(PWM&&) = default;
/**
* Set the PWM value directly to the hardware.
* Set the PWM pulse time directly to the hardware.
*
* Write a raw value to a PWM channel.
* Write a microsecond value to a PWM channel.
*
* @param value Raw PWM value.
* @param time Microsecond PWM value.
*/
virtual void SetRaw(uint16_t value);
virtual void SetPulseTime(units::microsecond_t time);
/**
* Get the PWM value directly from the hardware.
* Get the PWM pulse time directly from the hardware.
*
* Read a raw value from a PWM channel.
* Read a microsecond value from a PWM channel.
*
* @return Raw PWM control value.
* @return Microsecond PWM control value.
*/
virtual uint16_t GetRaw() const;
virtual units::microsecond_t GetPulseTime() const;
/**
* Set the PWM value based on a position.
*
* This is intended to be used by servos.
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinNegativePwm() called.
* @pre SetBounds() called.
*
* @param pos The position to set the servo between 0.0 and 1.0.
*/
@@ -112,8 +103,7 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
*
* This is intended to be used by servos.
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinNegativePwm() called.
* @pre SetBounds() called.
*
* @return The position the servo is set to between 0.0 and 1.0.
*/
@@ -124,11 +114,7 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
*
* This is intended to be used by motor controllers.
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinPositivePwm() called.
* @pre SetCenterPwm() called.
* @pre SetMaxNegativePwm() called.
* @pre SetMinNegativePwm() called.
* @pre SetBounds() called.
*
* @param speed The speed to set the motor controller between -1.0 and 1.0.
*/
@@ -139,10 +125,7 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
*
* This is intended to be used by motor controllers.
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinPositivePwm() called.
* @pre SetMaxNegativePwm() called.
* @pre SetMinNegativePwm() called.
* @pre SetBounds() called.
*
* @return The most recently set speed between -1.0 and 1.0.
*/
@@ -180,46 +163,38 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
* The values determine the upper and lower speeds as well as the deadband
* bracket.
*
* @param max The max PWM pulse width in ms
* @param deadbandMax The high end of the deadband range pulse width in ms
* @param center The center (off) pulse width in ms
* @param deadbandMin The low end of the deadband pulse width in ms
* @param min The minimum pulse width in ms
* @param max The max PWM pulse width in us
* @param deadbandMax The high end of the deadband range pulse width in us
* @param center The center (off) pulse width in us
* @param deadbandMin The low end of the deadband pulse width in us
* @param min The minimum pulse width in us
*/
void SetBounds(double max, double deadbandMax, double center,
double deadbandMin, double min);
/**
* Set the bounds on the PWM values.
*
* This sets the bounds on the PWM values for a particular each type of
* controller. The values determine the upper and lower speeds as well as the
* deadband bracket.
*
* @param max The Minimum pwm value
* @param deadbandMax The high end of the deadband range
* @param center The center speed (off)
* @param deadbandMin The low end of the deadband range
* @param min The minimum pwm value
*/
void SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
int min);
void SetBounds(units::microsecond_t max, units::microsecond_t deadbandMax,
units::microsecond_t center, units::microsecond_t deadbandMin,
units::microsecond_t min);
/**
* Get the bounds on the PWM values.
*
* This Gets the bounds on the PWM values for a particular each type of
* This gets the bounds on the PWM values for a particular each type of
* controller. The values determine the upper and lower speeds as well as the
* deadband bracket.
*
* @param max The Minimum pwm value
* @param max The maximum pwm value
* @param deadbandMax The high end of the deadband range
* @param center The center speed (off)
* @param deadbandMin The low end of the deadband range
* @param min The minimum pwm value
*/
void GetRawBounds(int32_t* max, int32_t* deadbandMax, int32_t* center,
int32_t* deadbandMin, int32_t* min);
void GetBounds(units::microsecond_t* max, units::microsecond_t* deadbandMax,
units::microsecond_t* center,
units::microsecond_t* deadbandMin, units::microsecond_t* min);
/**
* Sets the PWM output to be a continuous high signal while enabled.
*
*/
void SetAlwaysHighMode();
int GetChannel() const;

8
wpilibc/src/main/native/include/frc/Servo.h
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@@ -4,6 +4,8 @@
#pragma once
#include <units/angle.h>
#include "frc/PWM.h"
namespace frc {
@@ -98,11 +100,11 @@ class Servo : public PWM {
private:
double GetServoAngleRange() const;
static constexpr double kMaxServoAngle = 180.0;
static constexpr double kMaxServoAngle = 180.;
static constexpr double kMinServoAngle = 0.0;
static constexpr double kDefaultMaxServoPWM = 2.4;
static constexpr double kDefaultMinServoPWM = 0.6;
static constexpr units::millisecond_t kDefaultMaxServoPWM = 2.4_ms;
static constexpr units::millisecond_t kDefaultMinServoPWM = 0.6_ms;
};
} // namespace frc

16
wpilibc/src/main/native/include/frc/simulation/PWMSim.h
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@@ -67,29 +67,29 @@ class PWMSim {
void SetInitialized(bool initialized);
/**
* Register a callback to be run when the PWM raw value changes.
* Register a callback to be run when the PWM pulse microsecond value changes.
*
* @param callback the callback
* @param initialNotify whether to run the callback with the initial value
* @return the CallbackStore object associated with this callback
*/
[[nodiscard]]
std::unique_ptr<CallbackStore> RegisterRawValueCallback(
std::unique_ptr<CallbackStore> RegisterPulseMicrosecondCallback(
NotifyCallback callback, bool initialNotify);
/**
* Get the PWM raw value.
* Get the PWM pulse microsecond value.
*
* @return the PWM raw value
* @return the PWM pulse microsecond value
*/
int GetRawValue() const;
int32_t GetPulseMicrosecond() const;
/**
* Set the PWM raw value.
* Set the PWM pulse microsecond value.
*
* @param rawValue the PWM raw value
* @param microsecondPulseTime the PWM pulse microsecond value
*/
void SetRawValue(int rawValue);
void SetPulseMicrosecond(int32_t microsecondPulseTime);
/**
* Register a callback to be run when the PWM speed changes.