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commit a3ccfab0a42414aa169792356bfc47ee8d0d2d7b
Author: Kevin O'Connor <koconnor@usfirst.org>
Date:   Tue Sep 23 13:56:59 2014 -0400

    Implement zero latch (used to reduce brownout latency) in Java

    Change-Id: I3bf4ffbf20cf3d8a42da4fa1755b4306c49ede34

commit 0af37dfcc0d1172974519c44126973c302385d55
Author: Kevin O'Connor <koconnor@usfirst.org>
Date:   Tue Sep 23 13:03:07 2014 -0400

    Implement zero latch (used to improve brownout latency) in C++

    Change-Id: I62bedd1af65d367c32e2ab0b5a4fc679776eecb5

Change-Id: Ic27f37a9ab45aad82c1f7154d4edfbccfaa19229
This commit is contained in:
Kevin O'Connor
2014-09-26 17:20:57 -04:00
parent 19b2d05236
commit d72ee199fe
13 changed files with 50 additions and 10 deletions
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1
wpilibc/wpilibC++Devices/src/Jaguar.cpp
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@@ -26,6 +26,7 @@ void Jaguar::InitJaguar()
SetBounds(2.31, 1.55, 1.507, 1.454, .697);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
SetZeroLatch();
HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel());
LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);

10
wpilibc/wpilibC++Devices/src/PWM.cpp
View File

@@ -352,6 +352,16 @@ void PWM::SetPeriodMultiplier(PeriodMultiplier mult)
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
void PWM::SetZeroLatch()
{
if (StatusIsFatal()) return;
int32_t status = 0;
latchPWMZero(m_pwm_ports[m_channel], &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
void PWM::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
SetSpeed(value.f);

1
wpilibc/wpilibC++Devices/src/Talon.cpp
View File

@@ -27,6 +27,7 @@ void Talon::InitTalon() {
SetBounds(2.037, 1.539, 1.513, 1.487, .989);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
SetZeroLatch();
HALReport(HALUsageReporting::kResourceType_Talon, GetChannel());
LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);

1
wpilibc/wpilibC++Devices/src/Victor.cpp
View File

@@ -29,6 +29,7 @@ void Victor::InitVictor() {
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
SetZeroLatch();
LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());