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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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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);