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https://github.com/wpilibsuite/allwpilib
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Add format script which invokes clang-format on the C++ source code (#41)
On Windows machines, clang-format.exe must be in the PATH environment variable.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
68690643d2
commit
e14e45da76
@@ -7,9 +7,9 @@
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#pragma once
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#include "LiveWindow/LiveWindowSendable.h"
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#include "SensorBase.h"
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#include "simulation/SimContinuousOutput.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITableListener.h"
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#include <memory>
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@@ -17,12 +17,13 @@
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/**
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* Class implements the PWM generation in the FPGA.
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*
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* The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They are mapped
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* to the hardware dependent values, in this case 0-255 for the FPGA.
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* The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They
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* are mapped to the hardware dependent values, in this case 0-255 for the FPGA.
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* Changes are immediately sent to the FPGA, and the update occurs at the next
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* FPGA cycle. There is no delay.
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*
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* As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-255 values as follows:
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* As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-255 values as
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* follows:
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* - 255 = full "forward"
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* - 254 to 129 = linear scaling from "full forward" to "center"
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* - 128 = center value
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@@ -30,77 +31,77 @@
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* - 1 = full "reverse"
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* - 0 = disabled (i.e. PWM output is held low)
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*/
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class PWM : public SensorBase, public ITableListener, public LiveWindowSendable
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{
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public:
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enum PeriodMultiplier
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{
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kPeriodMultiplier_1X = 1,
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kPeriodMultiplier_2X = 2,
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kPeriodMultiplier_4X = 4
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};
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class PWM : public SensorBase,
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public ITableListener,
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public LiveWindowSendable {
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public:
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enum PeriodMultiplier {
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kPeriodMultiplier_1X = 1,
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kPeriodMultiplier_2X = 2,
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kPeriodMultiplier_4X = 4
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};
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explicit PWM(uint32_t channel);
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virtual ~PWM();
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virtual void SetRaw(unsigned short value);
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void SetPeriodMultiplier(PeriodMultiplier mult);
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void EnableDeadbandElimination(bool eliminateDeadband);
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void SetBounds(int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin,
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int32_t min);
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void SetBounds(double max, double deadbandMax, double center, double deadbandMin, double min);
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uint32_t GetChannel() const
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{
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return m_channel;
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}
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explicit PWM(uint32_t channel);
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virtual ~PWM();
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virtual void SetRaw(unsigned short value);
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void SetPeriodMultiplier(PeriodMultiplier mult);
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void EnableDeadbandElimination(bool eliminateDeadband);
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void SetBounds(int32_t max, int32_t deadbandMax, int32_t center,
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int32_t deadbandMin, int32_t min);
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void SetBounds(double max, double deadbandMax, double center,
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double deadbandMin, double min);
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uint32_t GetChannel() const { return m_channel; }
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protected:
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/**
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* kDefaultPwmPeriod is in ms
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*
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* - 20ms periods (50 Hz) are the "safest" setting in that this works for all devices
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* - 20ms periods seem to be desirable for Vex Motors
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* - 20ms periods are the specified period for HS-322HD servos, but work reliably down
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* to 10.0 ms; starting at about 8.5ms, the servo sometimes hums and get hot;
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* by 5.0ms the hum is nearly continuous
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* - 10ms periods work well for Victor 884
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* - 5ms periods allows higher update rates for Luminary Micro Jaguar speed controllers.
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* Due to the shipping firmware on the Jaguar, we can't run the update period less
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* than 5.05 ms.
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*
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* kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period scaling is implemented as an
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* output squelch to get longer periods for old devices.
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*/
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static const float kDefaultPwmPeriod;
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/**
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* kDefaultPwmCenter is the PWM range center in ms
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*/
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static const float kDefaultPwmCenter;
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/**
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* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
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*/
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static const int32_t kDefaultPwmStepsDown;
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static const int32_t kPwmDisabled;
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protected:
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/**
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* kDefaultPwmPeriod is in ms
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*
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* - 20ms periods (50 Hz) are the "safest" setting in that this works for all
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* devices
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* - 20ms periods seem to be desirable for Vex Motors
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* - 20ms periods are the specified period for HS-322HD servos, but work
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* reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes
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* hums and get hot; by 5.0ms the hum is nearly continuous
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* - 10ms periods work well for Victor 884
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* - 5ms periods allows higher update rates for Luminary Micro Jaguar speed
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* controllers. Due to the shipping firmware on the Jaguar, we can't run
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* the update period less than 5.05 ms.
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*
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* kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period
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* scaling is implemented as an output squelch to get longer periods for old
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* devices.
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*/
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static const float kDefaultPwmPeriod;
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/**
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* kDefaultPwmCenter is the PWM range center in ms
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*/
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static const float kDefaultPwmCenter;
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/**
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* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
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*/
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static const int32_t kDefaultPwmStepsDown;
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static const int32_t kPwmDisabled;
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virtual void SetPosition(float pos);
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virtual float GetPosition() const;
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virtual void SetSpeed(float speed);
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virtual float GetSpeed() const;
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virtual void SetPosition(float pos);
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virtual float GetPosition() const;
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virtual void SetSpeed(float speed);
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virtual float GetSpeed() const;
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bool m_eliminateDeadband;
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int32_t m_centerPwm;
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bool m_eliminateDeadband;
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int32_t m_centerPwm;
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void ValueChanged(ITable* source, llvm::StringRef key,
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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std::shared_ptr<ITable> m_table;
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std::shared_ptr<ITable> m_table;
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private:
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uint32_t m_channel;
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SimContinuousOutput* impl;
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private:
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uint32_t m_channel;
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SimContinuousOutput* impl;
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};
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