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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
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);