Add SPARKmini to PWM support (#7504)

wpilibc/src/generated/main/native/cpp/motorcontrol/SparkMini.cpp

@@ -0,0 +1,20 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
+#include "frc/motorcontrol/SparkMini.h"
+
+#include <hal/FRCUsageReporting.h>
+
+using namespace frc;
+
+SparkMini::SparkMini(int channel) : PWMMotorController("SparkMini", channel) {
+  m_pwm.SetBounds(2.5_ms, 1.51_ms, 1.5_ms, 1.49_ms, 0.5_ms);
+  m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
+  m_pwm.SetSpeed(0.0);
+  m_pwm.SetZeroLatch();
+
+  HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel() + 1);
+}

wpilibc/src/generated/main/native/include/frc/motorcontrol/SparkMini.h

@@ -0,0 +1,43 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibc/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
+#pragma once
+
+#include "frc/motorcontrol/PWMMotorController.h"
+
+namespace frc {
+
+/**
+ * REV Robotics SPARKMini Motor Controller with PWM control.
+ *
+ * Note that the SPARKMini uses the following bounds for PWM values. These
+ * values should work reasonably well for most controllers, but if users
+ * experience issues such as asymmetric behavior around the deadband or
+ * inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the SPARKMini User
+ * Manual available from REV Robotics.
+ *
+ * \li 2.500ms = full "forward"
+ * \li 1.510ms = the "high end" of the deadband range
+ * \li 1.500ms = center of the deadband range (off)
+ * \li 1.490ms = the "low end" of the deadband range
+ * \li 0.500ms = full "reverse"
+ */
+class SparkMini : public PWMMotorController {
+ public:
+  /**
+   * Constructor for a SPARKMini connected via PWM.
+   *
+   * @param channel The PWM channel that the SPARKMini is attached to. 0-9 are
+   *                on-board, 10-19 are on the MXP port
+   */
+  explicit SparkMini(int channel);
+
+  SparkMini(SparkMini&&) = default;
+  SparkMini& operator=(SparkMini&&) = default;
+};
+
+}  // namespace frc

wpilibj/src/generate/pwm_motor_controllers.json

@@ -168,5 +168,18 @@
       "deadbandMin": 1.480,
       "min": 0.997
     }
+  },
+  {
+    "name": "SparkMini",
+    "Manufacturer": "REV Robotics",
+    "DisplayName": "SPARKMini",
+    "ResourceName": "RevSPARK",
+    "pulse_width_ms": {
+      "max": 2.5,
+      "deadbandMax": 1.51,
+      "center": 1.5,
+      "deadbandMin": 1.49,
+      "min": 0.5
+    }
   }
 ]

wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SparkMini.java

@@ -0,0 +1,48 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+// THIS FILE WAS AUTO-GENERATED BY ./wpilibj/generate_pwm_motor_controllers.py. DO NOT MODIFY
+
+package edu.wpi.first.wpilibj.motorcontrol;
+
+import edu.wpi.first.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.hal.HAL;
+import edu.wpi.first.wpilibj.PWM;
+
+/**
+ * REV Robotics SPARKMini Motor Controller.
+ *
+ * <p>Note that the SPARKMini uses the following bounds for PWM values. These values should work
+ * reasonably well for most controllers, but if users experience issues such as asymmetric behavior
+ * around the deadband or inability to saturate the controller in either direction, calibration is
+ * recommended. The calibration procedure can be found in the SPARKMini User Manual available from
+ * REV Robotics.
+ *
+ * <ul>
+ *   <li>2.500ms = full "forward"
+ *   <li>1.510ms = the "high end" of the deadband range
+ *   <li>1.500ms = center of the deadband range (off)
+ *   <li>1.490ms = the "low end" of the deadband range
+ *   <li>0.500ms = full "reverse"
+ * </ul>
+ */
+public class SparkMini extends PWMMotorController {
+  /**
+   * Constructor.
+   *
+   * @param channel The PWM channel that the SPARKMini is attached to. 0-9 are on-board, 10-19
+   *     are on the MXP port
+   */
+  @SuppressWarnings("this-escape")
+  public SparkMini(final int channel) {
+    super("SparkMini", channel);
+
+    m_pwm.setBoundsMicroseconds(2500, 1510, 1500, 1490, 500);
+    m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X);
+    m_pwm.setSpeed(0.0);
+    m_pwm.setZeroLatch();
+
+    HAL.report(tResourceType.kResourceType_RevSPARK, getChannel() + 1);
+  }
+}