Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-29 02:21:44 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update to 2018_v4 image and new build system. (#598)

Browse Source 
* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
Download Patch File Download Diff File Expand all files Collapse all files

80
hal/src/main/native/sim/DigitalInternal.h Normal file
View File

@@ -0,0 +1,80 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include <stdint.h>
#include <memory>
#include "HAL/AnalogTrigger.h"
#include "HAL/Ports.h"
#include "HAL/Types.h"
#include "HAL/handles/DigitalHandleResource.h"
#include "HAL/handles/HandlesInternal.h"
#include "PortsInternal.h"
namespace hal {
/**
* MXP channels when used as digital output PWM are offset from actual value
*/
constexpr int32_t kMXPDigitalPWMOffset = 6;
constexpr int32_t kExpectedLoopTiming = 40;
/**
* kDefaultPwmPeriod is in ms
*
* - 20ms periods (50 Hz) are the "safest" setting in that this works for all
* devices
* - 20ms periods seem to be desirable for Vex Motors
* - 20ms periods are the specified period for HS-322HD servos, but work
* reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes hums
* and get hot; by 5.0ms the hum is nearly continuous
* - 10ms periods work well for Victor 884
* - 5ms periods allows higher update rates for Luminary Micro Jaguar speed
* controllers. Due to the shipping firmware on the Jaguar, we can't run the
* update period less than 5.05 ms.
*
* kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period
* scaling is implemented as an output squelch to get longer periods for old
* devices.
*/
constexpr float kDefaultPwmPeriod = 5.05;
/**
* kDefaultPwmCenter is the PWM range center in ms
*/
constexpr float kDefaultPwmCenter = 1.5;
/**
* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
*/
constexpr int32_t kDefaultPwmStepsDown = 1000;
constexpr int32_t kPwmDisabled = 0;
struct DigitalPort {
uint8_t channel;
bool configSet = false;
bool eliminateDeadband = false;
int32_t maxPwm = 0;
int32_t deadbandMaxPwm = 0;
int32_t centerPwm = 0;
int32_t deadbandMinPwm = 0;
int32_t minPwm = 0;
};
extern DigitalHandleResource<HAL_DigitalHandle, DigitalPort,
kNumDigitalChannels + kNumPWMHeaders>
digitalChannelHandles;
bool remapDigitalSource(HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
uint8_t& channel, uint8_t& module, bool& analogTrigger);
int32_t remapMXPPWMChannel(int32_t channel);
int32_t remapMXPChannel(int32_t channel);
int32_t GetDigitalInputChannel(HAL_DigitalHandle handle, int32_t* status);
} // namespace hal