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Update to 2018_v4 image and new build system. (#598)
* 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
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
349
wpilibc/src/main/native/cpp/PWM.cpp
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349
wpilibc/src/main/native/cpp/PWM.cpp
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "HAL/PWM.h"
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#include "PWM.h"
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#include "HAL/HAL.h"
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#include "HAL/Ports.h"
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#include "Utility.h"
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#include "WPIErrors.h"
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#include "llvm/SmallString.h"
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#include "llvm/raw_ostream.h"
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using namespace frc;
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/**
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* Allocate a PWM given a channel number.
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*
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* Checks channel value range and allocates the appropriate channel.
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* The allocation is only done to help users ensure that they don't double
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* assign channels.
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*
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* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the
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* MXP port
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*/
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PWM::PWM(int channel) {
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llvm::SmallString<32> str;
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llvm::raw_svector_ostream buf(str);
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if (!CheckPWMChannel(channel)) {
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buf << "PWM Channel " << channel;
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
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return;
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}
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int32_t status = 0;
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m_handle = HAL_InitializePWMPort(HAL_GetPort(channel), &status);
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if (status != 0) {
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wpi_setErrorWithContextRange(status, 0, HAL_GetNumPWMChannels(), channel,
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HAL_GetErrorMessage(status));
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m_channel = std::numeric_limits<int>::max();
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m_handle = HAL_kInvalidHandle;
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return;
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}
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m_channel = channel;
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HAL_SetPWMDisabled(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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status = 0;
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HAL_SetPWMEliminateDeadband(m_handle, false, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_Report(HALUsageReporting::kResourceType_PWM, channel);
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}
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/**
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* Free the PWM channel.
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*
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* Free the resource associated with the PWM channel and set the value to 0.
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*/
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PWM::~PWM() {
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int32_t status = 0;
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HAL_SetPWMDisabled(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_FreePWMPort(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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if (m_table != nullptr) m_table->RemoveTableListener(this);
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}
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/**
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* Optionally eliminate the deadband from a speed controller.
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*
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* @param eliminateDeadband If true, set the motor curve on the Jaguar to
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* eliminate the deadband in the middle of the range.
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* Otherwise, keep the full range without modifying
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* any values.
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*/
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void PWM::EnableDeadbandElimination(bool eliminateDeadband) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set the bounds on the PWM pulse widths.
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*
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* This sets the bounds on the PWM values for a particular type of controller.
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* The values determine the upper and lower speeds as well as the deadband
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* bracket.
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*
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* @param max The max PWM pulse width in ms
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* @param deadbandMax The high end of the deadband range pulse width in ms
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* @param center The center (off) pulse width in ms
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* @param deadbandMin The low end of the deadband pulse width in ms
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* @param min The minimum pulse width in ms
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*/
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void PWM::SetBounds(double max, double deadbandMax, double center,
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double deadbandMin, double min) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
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&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set the bounds on the PWM values.
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*
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* This sets the bounds on the PWM values for a particular each type of
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* controller. The values determine the upper and lower speeds as well as the
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* deadband bracket.
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*
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* @param max The Minimum pwm value
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* @param deadbandMax The high end of the deadband range
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* @param center The center speed (off)
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* @param deadbandMin The low end of the deadband range
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* @param min The minimum pwm value
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*/
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void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
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int min) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
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&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the bounds on the PWM values.
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*
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* This Gets the bounds on the PWM values for a particular each type of
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* controller. The values determine the upper and lower speeds as well as the
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* deadband bracket.
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*
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* @param max The Minimum pwm value
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* @param deadbandMax The high end of the deadband range
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* @param center The center speed (off)
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* @param deadbandMin The low end of the deadband range
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* @param min The minimum pwm value
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*/
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void PWM::GetRawBounds(int* max, int* deadbandMax, int* center,
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int* deadbandMin, int* min) {
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int32_t status = 0;
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HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
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&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set the PWM value based on a position.
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*
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* This is intended to be used by servos.
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*
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* @pre SetMaxPositivePwm() called.
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* @pre SetMinNegativePwm() called.
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*
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* @param pos The position to set the servo between 0.0 and 1.0.
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*/
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void PWM::SetPosition(double pos) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMPosition(m_handle, pos, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the PWM value in terms of a position.
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*
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* This is intended to be used by servos.
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*
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* @pre SetMaxPositivePwm() called.
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* @pre SetMinNegativePwm() called.
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*
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* @return The position the servo is set to between 0.0 and 1.0.
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*/
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double PWM::GetPosition() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double position = HAL_GetPWMPosition(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return position;
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}
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/**
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* Set the PWM value based on a speed.
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*
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* This is intended to be used by speed controllers.
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*
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* @pre SetMaxPositivePwm() called.
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* @pre SetMinPositivePwm() called.
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* @pre SetCenterPwm() called.
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* @pre SetMaxNegativePwm() called.
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* @pre SetMinNegativePwm() called.
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*
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* @param speed The speed to set the speed controller between -1.0 and 1.0.
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*/
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void PWM::SetSpeed(double speed) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMSpeed(m_handle, speed, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the PWM value in terms of speed.
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*
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* This is intended to be used by speed controllers.
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*
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* @pre SetMaxPositivePwm() called.
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* @pre SetMinPositivePwm() called.
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* @pre SetMaxNegativePwm() called.
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* @pre SetMinNegativePwm() called.
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*
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* @return The most recently set speed between -1.0 and 1.0.
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*/
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double PWM::GetSpeed() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double speed = HAL_GetPWMSpeed(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return speed;
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}
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/**
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* Set the PWM value directly to the hardware.
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*
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* Write a raw value to a PWM channel.
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*
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* @param value Raw PWM value.
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*/
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void PWM::SetRaw(uint16_t value) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMRaw(m_handle, value, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the PWM value directly from the hardware.
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*
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* Read a raw value from a PWM channel.
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*
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* @return Raw PWM control value.
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*/
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uint16_t PWM::GetRaw() const {
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if (StatusIsFatal()) return 0;
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int32_t status = 0;
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uint16_t value = HAL_GetPWMRaw(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* Slow down the PWM signal for old devices.
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*
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* @param mult The period multiplier to apply to this channel
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*/
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void PWM::SetPeriodMultiplier(PeriodMultiplier mult) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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switch (mult) {
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case kPeriodMultiplier_4X:
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HAL_SetPWMPeriodScale(m_handle, 3,
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&status); // Squelch 3 out of 4 outputs
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break;
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case kPeriodMultiplier_2X:
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HAL_SetPWMPeriodScale(m_handle, 1,
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&status); // Squelch 1 out of 2 outputs
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break;
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case kPeriodMultiplier_1X:
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HAL_SetPWMPeriodScale(m_handle, 0, &status); // Don't squelch any outputs
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break;
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default:
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wpi_assert(false);
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}
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Temporarily disables the PWM output. The next set call will reenable
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* the output.
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*/
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void PWM::SetDisabled() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetPWMDisabled(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void PWM::SetZeroLatch() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_LatchPWMZero(m_handle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void PWM::ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) {
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if (!value->IsDouble()) return;
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SetSpeed(value->GetDouble());
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}
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void PWM::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutNumber("Value", GetSpeed());
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}
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}
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void PWM::StartLiveWindowMode() {
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SetSpeed(0);
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if (m_table != nullptr) {
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m_table->AddTableListener("Value", this, true);
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}
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}
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void PWM::StopLiveWindowMode() {
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SetSpeed(0);
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if (m_table != nullptr) {
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m_table->RemoveTableListener(this);
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}
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}
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std::string PWM::GetSmartDashboardType() const { return "Speed Controller"; }
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void PWM::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> PWM::GetTable() const { return m_table; }
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