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[wpilib] Remove PWM.Period enum

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Replace it with just numeric values.
This commit is contained in:
Peter Johnson
2026-03-20 22:53:26 -07:00
parent f2929af00f
commit d05d3b1c78
30 changed files with 51 additions and 92 deletions
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3
romiVendordep/src/main/java/org/wpilib/romi/RomiMotor.java
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@@ -4,7 +4,6 @@
package org.wpilib.romi;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.motor.PWMMotorController;
/**
@@ -15,7 +14,7 @@ import org.wpilib.hardware.motor.PWMMotorController;
public class RomiMotor extends PWMMotorController {
/** Common initialization code called by all constructors. */
protected final void initRomiMotor() {
m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
m_pwm.setOutputPeriod(5);
setDutyCycle(0.0);
}

2
romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp
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@@ -7,6 +7,6 @@
using namespace wpi::romi;
RomiMotor::RomiMotor(int channel) : PWMMotorController("Romi Motor", channel) {
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
m_pwm.SetOutputPeriod(5_ms);
SetDutyCycle(0.0);
}

2
wpilibc/src/generate/main/native/cpp/hardware/motor/pwm_motor_controller.cpp.jinja
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@@ -12,7 +12,7 @@ using namespace wpi;
{{ name }}::{{ name }}(int channel) : PWMMotorController("{{ name }}", channel) {
SetBounds({{ pulse_width_ms.max }}_ms, {{ pulse_width_ms.deadbandMax }}_ms, {{ pulse_width_ms.center }}_ms, {{ pulse_width_ms.deadbandMin }}_ms, {{ pulse_width_ms.min }}_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_{{ OutputPeriod | default("5", true)}}Ms);
m_pwm.SetOutputPeriod({{ OutputPeriod | default("5", true)}}_ms);
SetDutyCycle(0.0);
HAL_ReportUsage("IO", GetChannel(), "{{ ResourceName }}");

2
wpilibc/src/generated/main/native/cpp/hardware/motor/Koors40.cpp generated
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@@ -12,7 +12,7 @@ using namespace wpi;
Koors40::Koors40(int channel) : PWMMotorController("Koors40", channel) {
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_20Ms);
m_pwm.SetOutputPeriod(20_ms);
SetDutyCycle(0.0);
HAL_ReportUsage("IO", GetChannel(), "Koors40");

2
wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkFlex.cpp generated
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@@ -12,7 +12,7 @@ using namespace wpi;
PWMSparkFlex::PWMSparkFlex(int channel) : PWMMotorController("PWMSparkFlex", channel) {
SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
m_pwm.SetOutputPeriod(5_ms);
SetDutyCycle(0.0);
HAL_ReportUsage("IO", GetChannel(), "RevSparkFlexPWM");

2
wpilibc/src/generated/main/native/cpp/hardware/motor/PWMSparkMax.cpp generated
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@@ -12,7 +12,7 @@ using namespace wpi;
PWMSparkMax::PWMSparkMax(int channel) : PWMMotorController("PWMSparkMax", channel) {
SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
m_pwm.SetOutputPeriod(5_ms);
SetDutyCycle(0.0);
HAL_ReportUsage("IO", GetChannel(), "RevSparkMaxPWM");

2
wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonFX.cpp generated
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@@ -12,7 +12,7 @@ using namespace wpi;
PWMTalonFX::PWMTalonFX(int channel) : PWMMotorController("PWMTalonFX", channel) {
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
m_pwm.SetOutputPeriod(5_ms);
SetDutyCycle(0.0);
HAL_ReportUsage("IO", GetChannel(), "TalonFX");

2
wpilibc/src/generated/main/native/cpp/hardware/motor/PWMTalonSRX.cpp generated
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@@ -12,7 +12,7 @@ using namespace wpi;
PWMTalonSRX::PWMTalonSRX(int channel) : PWMMotorController("PWMTalonSRX", channel) {
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
m_pwm.SetOutputPeriod(5_ms);
SetDutyCycle(0.0);
HAL_ReportUsage("IO", GetChannel(), "PWMTalonSRX");

2
wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVenom.cpp generated
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@@ -12,7 +12,7 @@ using namespace wpi;
PWMVenom::PWMVenom(int channel) : PWMMotorController("PWMVenom", channel) {
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
m_pwm.SetOutputPeriod(5_ms);
SetDutyCycle(0.0);
HAL_ReportUsage("IO", GetChannel(), "FusionVenom");

2
wpilibc/src/generated/main/native/cpp/hardware/motor/PWMVictorSPX.cpp generated
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@@ -12,7 +12,7 @@ using namespace wpi;
PWMVictorSPX::PWMVictorSPX(int channel) : PWMMotorController("PWMVictorSPX", channel) {
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
m_pwm.SetOutputPeriod(5_ms);
SetDutyCycle(0.0);
HAL_ReportUsage("IO", GetChannel(), "PWMVictorSPX");

2
wpilibc/src/generated/main/native/cpp/hardware/motor/Spark.cpp generated
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@@ -12,7 +12,7 @@ using namespace wpi;
Spark::Spark(int channel) : PWMMotorController("Spark", channel) {
SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
m_pwm.SetOutputPeriod(5_ms);
SetDutyCycle(0.0);
HAL_ReportUsage("IO", GetChannel(), "RevSPARK");

2
wpilibc/src/generated/main/native/cpp/hardware/motor/SparkMini.cpp generated
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@@ -12,7 +12,7 @@ using namespace wpi;
SparkMini::SparkMini(int channel) : PWMMotorController("SparkMini", channel) {
SetBounds(2.5_ms, 1.51_ms, 1.5_ms, 1.49_ms, 0.5_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
m_pwm.SetOutputPeriod(5_ms);
SetDutyCycle(0.0);
HAL_ReportUsage("IO", GetChannel(), "RevSPARK");

2
wpilibc/src/generated/main/native/cpp/hardware/motor/Talon.cpp generated
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@@ -12,7 +12,7 @@ using namespace wpi;
Talon::Talon(int channel) : PWMMotorController("Talon", channel) {
SetBounds(2.037_ms, 1.539_ms, 1.513_ms, 1.487_ms, 0.989_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
m_pwm.SetOutputPeriod(5_ms);
SetDutyCycle(0.0);
HAL_ReportUsage("IO", GetChannel(), "Talon");

2
wpilibc/src/generated/main/native/cpp/hardware/motor/VictorSP.cpp generated
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@@ -12,7 +12,7 @@ using namespace wpi;
VictorSP::VictorSP(int channel) : PWMMotorController("VictorSP", channel) {
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
m_pwm.SetOutputPeriod(5_ms);
SetDutyCycle(0.0);
HAL_ReportUsage("IO", GetChannel(), "VictorSP");

26
wpilibc/src/main/native/cpp/hardware/discrete/PWM.cpp
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@@ -60,25 +60,23 @@ void PWM::SetDisabled() {
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
}
void PWM::SetOutputPeriod(OutputPeriod mult) {
void PWM::SetOutputPeriod(wpi::units::millisecond_t period) {
int32_t status = 0;
switch (mult) {
case kOutputPeriod_20Ms:
HAL_SetPWMOutputPeriod(m_handle, 3,
&status); // Squelch 3 out of 4 outputs
switch (static_cast<int>(period.value())) {
case 5:
// Don't squelch any outputs
HAL_SetPWMOutputPeriod(m_handle, 0, &status);
break;
case kOutputPeriod_10Ms:
HAL_SetPWMOutputPeriod(m_handle, 1,
&status); // Squelch 1 out of 2 outputs
case 10:
// Squelch 1 out of 2 outputs
HAL_SetPWMOutputPeriod(m_handle, 1, &status);
break;
case kOutputPeriod_5Ms:
HAL_SetPWMOutputPeriod(m_handle, 0,
&status); // Don't squelch any outputs
case 20:
default: // default to 20ms if invalid value is given
// Squelch 3 out of 4 outputs
HAL_SetPWMOutputPeriod(m_handle, 3, &status);
break;
default:
throw WPILIB_MakeError(err::InvalidParameter, "OutputPeriod value {}",
static_cast<int>(mult));
}
WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);

26
wpilibc/src/main/native/include/wpi/hardware/discrete/PWM.hpp
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@@ -26,23 +26,6 @@ class AddressableLED;
class PWM : public wpi::util::Sendable, public wpi::util::SendableHelper<PWM> {
public:
friend class AddressableLED;
/**
* Represents the output period in microseconds.
*/
enum OutputPeriod {
/**
* PWM pulses occur every 5 ms
*/
kOutputPeriod_5Ms = 1,
/**
* PWM pulses occur every 10 ms
*/
kOutputPeriod_10Ms = 2,
/**
* PWM pulses occur every 20 ms
*/
kOutputPeriod_20Ms = 4
};
/**
* Allocate a PWM given a channel number.
@@ -71,7 +54,7 @@ class PWM : public wpi::util::Sendable, public wpi::util::SendableHelper<PWM> {
*
* Write a microsecond value to a PWM channel.
*
* @param time Microsecond PWM value.
* @param time Microsecond PWM value. Range 0 - 4096.
*/
void SetPulseTime(wpi::units::microsecond_t time);
@@ -80,7 +63,7 @@ class PWM : public wpi::util::Sendable, public wpi::util::SendableHelper<PWM> {
*
* Read a microsecond value from a PWM channel.
*
* @return Microsecond PWM control value.
* @return Microsecond PWM control value. Range 0 - 4096.
*/
wpi::units::microsecond_t GetPulseTime() const;
@@ -93,9 +76,10 @@ class PWM : public wpi::util::Sendable, public wpi::util::SendableHelper<PWM> {
/**
* Sets the PWM output period.
*
* @param mult The output period to apply to this channel
* @param period The output period to apply to this channel, in milliseconds.
* Valid values are 5ms, 10ms, and 20ms. Default is 20 ms.
*/
void SetOutputPeriod(OutputPeriod mult);
void SetOutputPeriod(wpi::units::millisecond_t period);
int GetChannel() const;

2
wpilibc/src/main/python/semiwrap/PWM.yml
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@@ -7,8 +7,6 @@ classes:
wpi::PWM:
ignored_bases:
- wpi::util::SendableHelper<PWM>
enums:
OutputPeriod:
methods:
PWM:
SetPulseTime:

3
wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja
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@@ -6,7 +6,6 @@
package org.wpilib.hardware.motor;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.HAL;
/**
@@ -37,7 +36,7 @@ public class {{ name }} extends PWMMotorController {
super("{{ name }}", channel);
setBoundsMicroseconds({{ (pulse_width_ms.max * 1000) | int }}, {{ (pulse_width_ms.deadbandMax * 1000) | int }}, {{ (pulse_width_ms.center * 1000) | int }}, {{ (pulse_width_ms.deadbandMin * 1000) | int }}, {{ (pulse_width_ms.min * 1000) | int }});
m_pwm.setOutputPeriod(PWM.OutputPeriod.k{{ OutputPeriod | default("5", true)}}Ms);
m_pwm.setOutputPeriod({{ OutputPeriod | default("5", true)}});
setDutyCycle(0.0);
HAL.reportUsage("IO", getChannel(), "{{ ResourceName }}");

3
wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Koors40.java generated
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@@ -6,7 +6,6 @@
package org.wpilib.hardware.motor;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.HAL;
/**
@@ -37,7 +36,7 @@ public class Koors40 extends PWMMotorController {
super("Koors40", channel);
setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
m_pwm.setOutputPeriod(PWM.OutputPeriod.k20Ms);
m_pwm.setOutputPeriod(20);
setDutyCycle(0.0);
HAL.reportUsage("IO", getChannel(), "Koors40");

3
wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkFlex.java generated
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@@ -6,7 +6,6 @@
package org.wpilib.hardware.motor;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.HAL;
/**
@@ -37,7 +36,7 @@ public class PWMSparkFlex extends PWMMotorController {
super("PWMSparkFlex", channel);
setBoundsMicroseconds(2003, 1550, 1500, 1460, 999);
m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
m_pwm.setOutputPeriod(5);
setDutyCycle(0.0);
HAL.reportUsage("IO", getChannel(), "RevSparkFlexPWM");

3
wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMSparkMax.java generated
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@@ -6,7 +6,6 @@
package org.wpilib.hardware.motor;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.HAL;
/**
@@ -37,7 +36,7 @@ public class PWMSparkMax extends PWMMotorController {
super("PWMSparkMax", channel);
setBoundsMicroseconds(2003, 1550, 1500, 1460, 999);
m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
m_pwm.setOutputPeriod(5);
setDutyCycle(0.0);
HAL.reportUsage("IO", getChannel(), "RevSparkMaxPWM");

3
wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonFX.java generated
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@@ -6,7 +6,6 @@
package org.wpilib.hardware.motor;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.HAL;
/**
@@ -37,7 +36,7 @@ public class PWMTalonFX extends PWMMotorController {
super("PWMTalonFX", channel);
setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
m_pwm.setOutputPeriod(5);
setDutyCycle(0.0);
HAL.reportUsage("IO", getChannel(), "TalonFX");

3
wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMTalonSRX.java generated
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@@ -6,7 +6,6 @@
package org.wpilib.hardware.motor;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.HAL;
/**
@@ -37,7 +36,7 @@ public class PWMTalonSRX extends PWMMotorController {
super("PWMTalonSRX", channel);
setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
m_pwm.setOutputPeriod(5);
setDutyCycle(0.0);
HAL.reportUsage("IO", getChannel(), "PWMTalonSRX");

3
wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVenom.java generated
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@@ -6,7 +6,6 @@
package org.wpilib.hardware.motor;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.HAL;
/**
@@ -37,7 +36,7 @@ public class PWMVenom extends PWMMotorController {
super("PWMVenom", channel);
setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
m_pwm.setOutputPeriod(5);
setDutyCycle(0.0);
HAL.reportUsage("IO", getChannel(), "FusionVenom");

3
wpilibj/src/generated/main/java/org/wpilib/hardware/motor/PWMVictorSPX.java generated
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@@ -6,7 +6,6 @@
package org.wpilib.hardware.motor;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.HAL;
/**
@@ -37,7 +36,7 @@ public class PWMVictorSPX extends PWMMotorController {
super("PWMVictorSPX", channel);
setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
m_pwm.setOutputPeriod(5);
setDutyCycle(0.0);
HAL.reportUsage("IO", getChannel(), "PWMVictorSPX");

3
wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Spark.java generated
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@@ -6,7 +6,6 @@
package org.wpilib.hardware.motor;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.HAL;
/**
@@ -37,7 +36,7 @@ public class Spark extends PWMMotorController {
super("Spark", channel);
setBoundsMicroseconds(2003, 1550, 1500, 1460, 999);
m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
m_pwm.setOutputPeriod(5);
setDutyCycle(0.0);
HAL.reportUsage("IO", getChannel(), "RevSPARK");

3
wpilibj/src/generated/main/java/org/wpilib/hardware/motor/SparkMini.java generated
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@@ -6,7 +6,6 @@
package org.wpilib.hardware.motor;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.HAL;
/**
@@ -37,7 +36,7 @@ public class SparkMini extends PWMMotorController {
super("SparkMini", channel);
setBoundsMicroseconds(2500, 1510, 1500, 1490, 500);
m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
m_pwm.setOutputPeriod(5);
setDutyCycle(0.0);
HAL.reportUsage("IO", getChannel(), "RevSPARK");

3
wpilibj/src/generated/main/java/org/wpilib/hardware/motor/Talon.java generated
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@@ -6,7 +6,6 @@
package org.wpilib.hardware.motor;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.HAL;
/**
@@ -37,7 +36,7 @@ public class Talon extends PWMMotorController {
super("Talon", channel);
setBoundsMicroseconds(2037, 1539, 1513, 1487, 989);
m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
m_pwm.setOutputPeriod(5);
setDutyCycle(0.0);
HAL.reportUsage("IO", getChannel(), "Talon");

3
wpilibj/src/generated/main/java/org/wpilib/hardware/motor/VictorSP.java generated
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@@ -6,7 +6,6 @@
package org.wpilib.hardware.motor;
import org.wpilib.hardware.discrete.PWM;
import org.wpilib.hardware.hal.HAL;
/**
@@ -37,7 +36,7 @@ public class VictorSP extends PWMMotorController {
super("VictorSP", channel);
setBoundsMicroseconds(2004, 1520, 1500, 1480, 997);
m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms);
m_pwm.setOutputPeriod(5);
setDutyCycle(0.0);
HAL.reportUsage("IO", getChannel(), "VictorSP");

24
wpilibj/src/main/java/org/wpilib/hardware/discrete/PWM.java
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@@ -20,16 +20,6 @@ import org.wpilib.util.sendable.SendableRegistry;
* sent to the FPGA, and the update occurs at the next FPGA cycle (5.05ms). There is no delay.
*/
public class PWM implements Sendable, AutoCloseable {
/** Represents the output period in microseconds. */
public enum OutputPeriod {
/** Pulse every 5ms. */
k5Ms,
/** Pulse every 10ms. */
k10Ms,
/** Pulse every 20ms. */
k20Ms
}
private final int m_channel;
private int m_handle;
@@ -120,14 +110,16 @@ public class PWM implements Sendable, AutoCloseable {
/**
* Sets the PWM output period.
*
* @param mult The output period to apply to this channel
* @param millisecondPeriod The output period to apply to this channel, in milliseconds. Valid
* values are 5ms, 10ms, and 20ms. Default is 20 ms.
*/
public void setOutputPeriod(OutputPeriod mult) {
public void setOutputPeriod(int millisecondPeriod) {
int scale =
switch (mult) {
case k20Ms -> 3;
case k10Ms -> 1;
case k5Ms -> 0;
switch (millisecondPeriod) {
case 5 -> 0;
case 10 -> 1;
case 20 -> 3;
default -> 3; // default to 20ms if invalid value is given
};
PWMJNI.setPWMOutputPeriod(m_handle, scale);