diff --git a/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java b/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java index b921bc3461..28028ddb2a 100644 --- a/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java +++ b/hal/src/main/java/edu/wpi/first/hal/DIOJNI.java @@ -123,13 +123,6 @@ public class DIOJNI extends JNIWrapper { */ public static native boolean isAnyPulsing(); - /** - * Gets the loop timing of the PWM system. - * - * @return the loop time in clock ticks - */ - public static native short getLoopTiming(); - /** * Allocates a DO PWM Generator. * diff --git a/hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java b/hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java deleted file mode 100644 index 0ec46ddf2f..0000000000 --- a/hal/src/main/java/edu/wpi/first/hal/PWMConfigDataResult.java +++ /dev/null @@ -1,32 +0,0 @@ -// Copyright (c) FIRST and other WPILib contributors. -// Open Source Software; you can modify and/or share it under the terms of -// the WPILib BSD license file in the root directory of this project. - -package edu.wpi.first.hal; - -/** Structure for holding the config data result for PWM. */ -@SuppressWarnings("MemberName") -public class PWMConfigDataResult { - PWMConfigDataResult(int max, int deadbandMax, int center, int deadbandMin, int min) { - this.max = max; - this.deadbandMax = deadbandMax; - this.center = center; - this.deadbandMin = deadbandMin; - this.min = min; - } - - /** The maximum PWM value in microseconds. */ - public int max; - - /** The deadband maximum PWM value in microseconds. */ - public int deadbandMax; - - /** The center PWM value in microseconds. */ - public int center; - - /** The deadband minimum PWM value in microseconds. */ - public int deadbandMin; - - /** The minimum PWM value in microseconds. */ - public int min; -} diff --git a/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java b/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java index 3bb04e8597..9a83bc132a 100644 --- a/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java +++ b/hal/src/main/java/edu/wpi/first/hal/PWMJNI.java @@ -34,50 +34,13 @@ public class PWMJNI extends DIOJNI { public static native void freePWMPort(int pwmPortHandle); /** - * Sets the configuration settings for the PWM channel. + * Indicates the pwm is used by a simulated device. * - *

All values are in microseconds. - * - * @param pwmPortHandle the PWM handle - * @param maxPwm the maximum PWM value - * @param deadbandMaxPwm the high range of the center deadband - * @param centerPwm the center PWM value - * @param deadbandMinPwm the low range of the center deadband - * @param minPwm the minimum PWM value + * @param handle the pwm handle + * @param device simulated device handle + * @see "HAL_SetPWMSimDevice" */ - public static native void setPWMConfigMicroseconds( - int pwmPortHandle, - int maxPwm, - int deadbandMaxPwm, - int centerPwm, - int deadbandMinPwm, - int minPwm); - - /** - * Gets the pwm configuration settings for the PWM channel. - * - *

Values are in microseconds. - * - * @param pwmPortHandle the PWM handle - * @return the pwm configuration settings - */ - public static native PWMConfigDataResult getPWMConfigMicroseconds(int pwmPortHandle); - - /** - * Sets if the FPGA should output the center value if the input value is within the deadband. - * - * @param pwmPortHandle the PWM handle - * @param eliminateDeadband true to eliminate deadband, otherwise false - */ - public static native void setPWMEliminateDeadband(int pwmPortHandle, boolean eliminateDeadband); - - /** - * Gets the current eliminate deadband value. - * - * @param pwmPortHandle the PWM handle - * @return true if set, otherwise false - */ - public static native boolean getPWMEliminateDeadband(int pwmPortHandle); + public static native void setPWMSimDevice(int handle, int device); /** * Sets a PWM channel to the desired pulse width in microseconds. @@ -87,28 +50,6 @@ public class PWMJNI extends DIOJNI { */ public static native void setPulseTimeMicroseconds(int pwmPortHandle, int microsecondPulseTime); - /** - * Sets a PWM channel to the desired scaled value. - * - *

The values range from -1 to 1 and the period is controlled by the PWM Period and MinHigh - * registers. - * - * @param pwmPortHandle the PWM handle - * @param speed the scaled PWM value to set - */ - public static native void setPWMSpeed(int pwmPortHandle, double speed); - - /** - * Sets a PWM channel to the desired position value. - * - *

The values range from 0 to 1 and the period is controlled by the PWM Period and MinHigh - * registers. - * - * @param pwmPortHandle the PWM handle - * @param position the positional PWM value to set - */ - public static native void setPWMPosition(int pwmPortHandle, double position); - /** * Gets the current microsecond pulse time from a PWM channel. * @@ -118,56 +59,12 @@ public class PWMJNI extends DIOJNI { public static native int getPulseTimeMicroseconds(int pwmPortHandle); /** - * Gets a scaled value from a PWM channel. - * - *

The values range from -1 to 1. - * - * @param pwmPortHandle the PWM handle - * @return the current speed PWM value - */ - public static native double getPWMSpeed(int pwmPortHandle); - - /** - * Gets a position value from a PWM channel. - * - *

The values range from 0 to 1. - * - * @param pwmPortHandle the PWM handle - * @return the current positional PWM value - */ - public static native double getPWMPosition(int pwmPortHandle); - - /** - * Sets a PWM channel to be disabled. - * - *

The channel is disabled until the next time it is set. Note this is different from just - * setting a 0 speed, as this will actively stop all signaling on the channel. + * Sets the PWM output period. * * @param pwmPortHandle the PWM handle. + * @param period 0 for 5ms, 1 or 2 for 10ms, 3 for 20ms */ - public static native void setPWMDisabled(int pwmPortHandle); - - /** - * Forces a PWM signal to go to 0 temporarily. - * - * @param pwmPortHandle the PWM handle. - */ - public static native void latchPWMZero(int pwmPortHandle); - - /** - * Sets the PWM output to be a continuous high signal while enabled. - * - * @param pwmPortHandle the PWM handle. - */ - public static native void setAlwaysHighMode(int pwmPortHandle); - - /** - * Sets how how often the PWM signal is squelched, thus scaling the period. - * - * @param pwmPortHandle the PWM handle. - * @param squelchMask the 2-bit mask of outputs to squelch - */ - public static native void setPWMPeriodScale(int pwmPortHandle, int squelchMask); + public static native void setPWMOutputPeriod(int pwmPortHandle, int period); /** Utility class. */ private PWMJNI() {} diff --git a/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java b/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java index 10f8b6669a..99e51ea86e 100644 --- a/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java +++ b/hal/src/main/java/edu/wpi/first/hal/simulation/PWMDataJNI.java @@ -26,41 +26,14 @@ public class PWMDataJNI extends JNIWrapper { public static native void setPulseMicrosecond(int index, int microsecondPulseTime); - public static native int registerSpeedCallback( + public static native int registerOutputPeriodCallback( int index, NotifyCallback callback, boolean initialNotify); - public static native void cancelSpeedCallback(int index, int uid); + public static native void cancelOutputPeriodCallback(int index, int uid); - public static native double getSpeed(int index); + public static native int getOutputPeriod(int index); - public static native void setSpeed(int index, double speed); - - public static native int registerPositionCallback( - int index, NotifyCallback callback, boolean initialNotify); - - public static native void cancelPositionCallback(int index, int uid); - - public static native double getPosition(int index); - - public static native void setPosition(int index, double position); - - public static native int registerPeriodScaleCallback( - int index, NotifyCallback callback, boolean initialNotify); - - public static native void cancelPeriodScaleCallback(int index, int uid); - - public static native int getPeriodScale(int index); - - public static native void setPeriodScale(int index, int periodScale); - - public static native int registerZeroLatchCallback( - int index, NotifyCallback callback, boolean initialNotify); - - public static native void cancelZeroLatchCallback(int index, int uid); - - public static native boolean getZeroLatch(int index); - - public static native void setZeroLatch(int index, boolean zeroLatch); + public static native void setOutputPeriod(int index, int period); public static native void resetData(int index); diff --git a/hal/src/main/native/cpp/jni/DIOJNI.cpp b/hal/src/main/native/cpp/jni/DIOJNI.cpp index 6bc36fe4e5..36136f3d5f 100644 --- a/hal/src/main/native/cpp/jni/DIOJNI.cpp +++ b/hal/src/main/native/cpp/jni/DIOJNI.cpp @@ -190,21 +190,6 @@ Java_edu_wpi_first_hal_DIOJNI_isAnyPulsing return returnValue; } -/* - * Class: edu_wpi_first_hal_DIOJNI - * Method: getLoopTiming - * Signature: ()S - */ -JNIEXPORT jshort JNICALL -Java_edu_wpi_first_hal_DIOJNI_getLoopTiming - (JNIEnv* env, jclass) -{ - int32_t status = 0; - jshort returnValue = HAL_GetPWMLoopTiming(&status); - CheckStatus(env, status); - return returnValue; -} - /* * Class: edu_wpi_first_hal_DIOJNI * Method: allocateDigitalPWM diff --git a/hal/src/main/native/cpp/jni/HALUtil.cpp b/hal/src/main/native/cpp/jni/HALUtil.cpp index 47ff07d1af..0e8bcc71c7 100644 --- a/hal/src/main/native/cpp/jni/HALUtil.cpp +++ b/hal/src/main/native/cpp/jni/HALUtil.cpp @@ -44,7 +44,6 @@ static JException halHandleExCls; static JException uncleanStatusExCls; static JException nullPointerEx; static JClass powerDistributionVersionCls; -static JClass pwmConfigDataResultCls; static JClass canStatusCls; static JClass matchInfoDataCls; static JClass canReceiveMessageCls; @@ -56,7 +55,6 @@ static JClass canStreamOverflowExCls; static const JClassInit classes[] = { {"edu/wpi/first/hal/PowerDistributionVersion", &powerDistributionVersionCls}, - {"edu/wpi/first/hal/PWMConfigDataResult", &pwmConfigDataResultCls}, {"edu/wpi/first/hal/can/CANStatus", &canStatusCls}, {"edu/wpi/first/hal/MatchInfoData", &matchInfoDataCls}, {"edu/wpi/first/hal/can/CANReceiveMessage", &canReceiveMessageCls}, @@ -180,17 +178,6 @@ void ThrowBoundaryException(JNIEnv* env, double value, double lower, env->Throw(static_cast(ex)); } -jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm, - int32_t deadbandMaxPwm, int32_t centerPwm, - int32_t deadbandMinPwm, int32_t minPwm) { - static jmethodID constructor = - env->GetMethodID(pwmConfigDataResultCls, "", "(IIIII)V"); - return env->NewObject( - pwmConfigDataResultCls, constructor, static_cast(maxPwm), - static_cast(deadbandMaxPwm), static_cast(centerPwm), - static_cast(deadbandMinPwm), static_cast(minPwm)); -} - jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor, uint32_t firmwareMinor, uint32_t firmwareFix, uint32_t hardwareMinor, uint32_t hardwareMajor, diff --git a/hal/src/main/native/cpp/jni/HALUtil.h b/hal/src/main/native/cpp/jni/HALUtil.h index 58be7ca3fe..6a440f5ea0 100644 --- a/hal/src/main/native/cpp/jni/HALUtil.h +++ b/hal/src/main/native/cpp/jni/HALUtil.h @@ -49,10 +49,6 @@ void ThrowIllegalArgumentException(JNIEnv* env, std::string_view msg); void ThrowBoundaryException(JNIEnv* env, double value, double lower, double upper); -jobject CreatePWMConfigDataResult(JNIEnv* env, int32_t maxPwm, - int32_t deadbandMaxPwm, int32_t centerPwm, - int32_t deadbandMinPwm, int32_t minPwm); - jobject CreateREVPHVersion(JNIEnv* env, uint32_t firmwareMajor, uint32_t firmwareMinor, uint32_t firmwareFix, uint32_t hardwareMinor, uint32_t hardwareMajor, diff --git a/hal/src/main/native/cpp/jni/PWMJNI.cpp b/hal/src/main/native/cpp/jni/PWMJNI.cpp index c7d02377ff..dcee624730 100644 --- a/hal/src/main/native/cpp/jni/PWMJNI.cpp +++ b/hal/src/main/native/cpp/jni/PWMJNI.cpp @@ -63,69 +63,14 @@ Java_edu_wpi_first_hal_PWMJNI_freePWMPort /* * Class: edu_wpi_first_hal_PWMJNI - * Method: setPWMConfigMicroseconds - * Signature: (IIIIII)V + * Method: setPWMSimDevice + * Signature: (II)V */ JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_PWMJNI_setPWMConfigMicroseconds - (JNIEnv* env, jclass, jint id, jint maxPwm, jint deadbandMaxPwm, - jint centerPwm, jint deadbandMinPwm, jint minPwm) +Java_edu_wpi_first_hal_PWMJNI_setPWMSimDevice + (JNIEnv* env, jclass, jint handle, jint device) { - int32_t status = 0; - HAL_SetPWMConfigMicroseconds((HAL_DigitalHandle)id, maxPwm, deadbandMaxPwm, - centerPwm, deadbandMinPwm, minPwm, &status); - CheckStatus(env, status); -} - -/* - * Class: edu_wpi_first_hal_PWMJNI - * Method: getPWMConfigMicroseconds - * Signature: (I)Ljava/lang/Object; - */ -JNIEXPORT jobject JNICALL -Java_edu_wpi_first_hal_PWMJNI_getPWMConfigMicroseconds - (JNIEnv* env, jclass, jint id) -{ - int32_t status = 0; - int32_t maxPwm = 0; - int32_t deadbandMaxPwm = 0; - int32_t centerPwm = 0; - int32_t deadbandMinPwm = 0; - int32_t minPwm = 0; - HAL_GetPWMConfigMicroseconds((HAL_DigitalHandle)id, &maxPwm, &deadbandMaxPwm, - ¢erPwm, &deadbandMinPwm, &minPwm, &status); - CheckStatus(env, status); - return CreatePWMConfigDataResult(env, maxPwm, deadbandMaxPwm, centerPwm, - deadbandMinPwm, minPwm); -} - -/* - * Class: edu_wpi_first_hal_PWMJNI - * Method: setPWMEliminateDeadband - * Signature: (IZ)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_PWMJNI_setPWMEliminateDeadband - (JNIEnv* env, jclass, jint id, jboolean value) -{ - int32_t status = 0; - HAL_SetPWMEliminateDeadband((HAL_DigitalHandle)id, value, &status); - CheckStatus(env, status); -} - -/* - * Class: edu_wpi_first_hal_PWMJNI - * Method: getPWMEliminateDeadband - * Signature: (I)Z - */ -JNIEXPORT jboolean JNICALL -Java_edu_wpi_first_hal_PWMJNI_getPWMEliminateDeadband - (JNIEnv* env, jclass, jint id) -{ - int32_t status = 0; - auto val = HAL_GetPWMEliminateDeadband((HAL_DigitalHandle)id, &status); - CheckStatus(env, status); - return (jboolean)val; + HAL_SetPWMSimDevice((HAL_DigitalHandle)handle, (HAL_SimDeviceHandle)device); } /* @@ -142,34 +87,6 @@ Java_edu_wpi_first_hal_PWMJNI_setPulseTimeMicroseconds CheckStatus(env, status); } -/* - * Class: edu_wpi_first_hal_PWMJNI - * Method: setPWMSpeed - * Signature: (ID)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_PWMJNI_setPWMSpeed - (JNIEnv* env, jclass, jint id, jdouble value) -{ - int32_t status = 0; - HAL_SetPWMSpeed((HAL_DigitalHandle)id, value, &status); - CheckStatus(env, status); -} - -/* - * Class: edu_wpi_first_hal_PWMJNI - * Method: setPWMPosition - * Signature: (ID)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_PWMJNI_setPWMPosition - (JNIEnv* env, jclass, jint id, jdouble value) -{ - int32_t status = 0; - HAL_SetPWMPosition((HAL_DigitalHandle)id, value, &status); - CheckStatus(env, status); -} - /* * Class: edu_wpi_first_hal_PWMJNI * Method: getPulseTimeMicroseconds @@ -188,87 +105,15 @@ Java_edu_wpi_first_hal_PWMJNI_getPulseTimeMicroseconds /* * Class: edu_wpi_first_hal_PWMJNI - * Method: getPWMSpeed - * Signature: (I)D - */ -JNIEXPORT jdouble JNICALL -Java_edu_wpi_first_hal_PWMJNI_getPWMSpeed - (JNIEnv* env, jclass, jint id) -{ - int32_t status = 0; - jdouble returnValue = HAL_GetPWMSpeed((HAL_DigitalHandle)id, &status); - CheckStatus(env, status); - return returnValue; -} - -/* - * Class: edu_wpi_first_hal_PWMJNI - * Method: getPWMPosition - * Signature: (I)D - */ -JNIEXPORT jdouble JNICALL -Java_edu_wpi_first_hal_PWMJNI_getPWMPosition - (JNIEnv* env, jclass, jint id) -{ - int32_t status = 0; - jdouble returnValue = HAL_GetPWMPosition((HAL_DigitalHandle)id, &status); - CheckStatus(env, status); - return returnValue; -} - -/* - * Class: edu_wpi_first_hal_PWMJNI - * Method: setPWMDisabled - * Signature: (I)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_PWMJNI_setPWMDisabled - (JNIEnv* env, jclass, jint id) -{ - int32_t status = 0; - HAL_SetPWMDisabled((HAL_DigitalHandle)id, &status); - CheckStatus(env, status); -} - -/* - * Class: edu_wpi_first_hal_PWMJNI - * Method: latchPWMZero - * Signature: (I)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_PWMJNI_latchPWMZero - (JNIEnv* env, jclass, jint id) -{ - int32_t status = 0; - HAL_LatchPWMZero((HAL_DigitalHandle)id, &status); - CheckStatus(env, status); -} - -/* - * Class: edu_wpi_first_hal_PWMJNI - * Method: setAlwaysHighMode - * Signature: (I)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_PWMJNI_setAlwaysHighMode - (JNIEnv* env, jclass, jint id) -{ - int32_t status = 0; - HAL_SetPWMAlwaysHighMode((HAL_DigitalHandle)id, &status); - CheckStatus(env, status); -} - -/* - * Class: edu_wpi_first_hal_PWMJNI - * Method: setPWMPeriodScale + * Method: setPWMOutputPeriod * Signature: (II)V */ JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_PWMJNI_setPWMPeriodScale +Java_edu_wpi_first_hal_PWMJNI_setPWMOutputPeriod (JNIEnv* env, jclass, jint id, jint value) { int32_t status = 0; - HAL_SetPWMPeriodScale((HAL_DigitalHandle)id, value, &status); + HAL_SetPWMOutputPeriod((HAL_DigitalHandle)id, value, &status); CheckStatus(env, status); } diff --git a/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp b/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp index ea5272898e..ffab4aa512 100644 --- a/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp +++ b/hal/src/main/native/cpp/jni/simulation/PWMDataJNI.cpp @@ -114,201 +114,52 @@ Java_edu_wpi_first_hal_simulation_PWMDataJNI_setPulseMicrosecond /* * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: registerSpeedCallback + * Method: registerOutputPeriodCallback * Signature: (ILjava/lang/Object;Z)I */ JNIEXPORT jint JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerSpeedCallback +Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerOutputPeriodCallback (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify) { return sim::AllocateCallback(env, index, callback, initialNotify, - &HALSIM_RegisterPWMSpeedCallback); + &HALSIM_RegisterPWMOutputPeriodCallback); } /* * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: cancelSpeedCallback + * Method: cancelOutputPeriodCallback * Signature: (II)V */ JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelSpeedCallback - (JNIEnv* env, jclass, jint index, jint handle) -{ - return sim::FreeCallback(env, handle, index, &HALSIM_CancelPWMSpeedCallback); -} - -/* - * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: getSpeed - * Signature: (I)D - */ -JNIEXPORT jdouble JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_getSpeed - (JNIEnv*, jclass, jint index) -{ - return HALSIM_GetPWMSpeed(index); -} - -/* - * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: setSpeed - * Signature: (ID)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_setSpeed - (JNIEnv*, jclass, jint index, jdouble value) -{ - HALSIM_SetPWMSpeed(index, value); -} - -/* - * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: registerPositionCallback - * Signature: (ILjava/lang/Object;Z)I - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerPositionCallback - (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify) -{ - return sim::AllocateCallback(env, index, callback, initialNotify, - &HALSIM_RegisterPWMPositionCallback); -} - -/* - * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: cancelPositionCallback - * Signature: (II)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelPositionCallback +Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelOutputPeriodCallback (JNIEnv* env, jclass, jint index, jint handle) { return sim::FreeCallback(env, handle, index, - &HALSIM_CancelPWMPositionCallback); + &HALSIM_CancelPWMOutputPeriodCallback); } /* * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: getPosition - * Signature: (I)D - */ -JNIEXPORT jdouble JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_getPosition - (JNIEnv*, jclass, jint index) -{ - return HALSIM_GetPWMPosition(index); -} - -/* - * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: setPosition - * Signature: (ID)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_setPosition - (JNIEnv*, jclass, jint index, jdouble value) -{ - HALSIM_SetPWMPosition(index, value); -} - -/* - * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: registerPeriodScaleCallback - * Signature: (ILjava/lang/Object;Z)I - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerPeriodScaleCallback - (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify) -{ - return sim::AllocateCallback(env, index, callback, initialNotify, - &HALSIM_RegisterPWMPeriodScaleCallback); -} - -/* - * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: cancelPeriodScaleCallback - * Signature: (II)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelPeriodScaleCallback - (JNIEnv* env, jclass, jint index, jint handle) -{ - return sim::FreeCallback(env, handle, index, - &HALSIM_CancelPWMPeriodScaleCallback); -} - -/* - * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: getPeriodScale + * Method: getOutputPeriod * Signature: (I)I */ JNIEXPORT jint JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_getPeriodScale +Java_edu_wpi_first_hal_simulation_PWMDataJNI_getOutputPeriod (JNIEnv*, jclass, jint index) { - return HALSIM_GetPWMPeriodScale(index); + return HALSIM_GetPWMOutputPeriod(index); } /* * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: setPeriodScale + * Method: setOutputPeriod * Signature: (II)V */ JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_setPeriodScale +Java_edu_wpi_first_hal_simulation_PWMDataJNI_setOutputPeriod (JNIEnv*, jclass, jint index, jint value) { - HALSIM_SetPWMPeriodScale(index, value); -} - -/* - * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: registerZeroLatchCallback - * Signature: (ILjava/lang/Object;Z)I - */ -JNIEXPORT jint JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_registerZeroLatchCallback - (JNIEnv* env, jclass, jint index, jobject callback, jboolean initialNotify) -{ - return sim::AllocateCallback(env, index, callback, initialNotify, - &HALSIM_RegisterPWMZeroLatchCallback); -} - -/* - * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: cancelZeroLatchCallback - * Signature: (II)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_cancelZeroLatchCallback - (JNIEnv* env, jclass, jint index, jint handle) -{ - return sim::FreeCallback(env, handle, index, - &HALSIM_CancelPWMZeroLatchCallback); -} - -/* - * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: getZeroLatch - * Signature: (I)Z - */ -JNIEXPORT jboolean JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_getZeroLatch - (JNIEnv*, jclass, jint index) -{ - return HALSIM_GetPWMZeroLatch(index); -} - -/* - * Class: edu_wpi_first_hal_simulation_PWMDataJNI - * Method: setZeroLatch - * Signature: (IZ)V - */ -JNIEXPORT void JNICALL -Java_edu_wpi_first_hal_simulation_PWMDataJNI_setZeroLatch - (JNIEnv*, jclass, jint index, jboolean value) -{ - HALSIM_SetPWMZeroLatch(index, value); + HALSIM_SetPWMOutputPeriod(index, value); } /* diff --git a/hal/src/main/native/include/hal/PWM.h b/hal/src/main/native/include/hal/PWM.h index 04884b08ac..576e6fdf64 100644 --- a/hal/src/main/native/include/hal/PWM.h +++ b/hal/src/main/native/include/hal/PWM.h @@ -47,61 +47,12 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle); HAL_Bool HAL_CheckPWMChannel(int32_t channel); /** - * Sets the configuration settings for the PWM channel. + * Indicates the pwm is used by a simulated device. * - * All values are in microseconds. - * - * @param[in] pwmPortHandle the PWM handle - * @param[in] maxPwm the maximum PWM value - * @param[in] deadbandMaxPwm the high range of the center deadband - * @param[in] centerPwm the center PWM value - * @param[in] deadbandMinPwm the low range of the center deadband - * @param[in] minPwm the minimum PWM value - * @param[out] status Error status variable. 0 on success. + * @param handle the pwm handle + * @param device simulated device handle */ -void HAL_SetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle, - int32_t maxPwm, int32_t deadbandMaxPwm, - int32_t centerPwm, int32_t deadbandMinPwm, - int32_t minPwm, int32_t* status); - -/** - * Gets the pwm configuration settings for the PWM channel. - * - * Values are in microseconds. - * - * @param[in] pwmPortHandle the PWM handle - * @param[in] maxPwm the maximum PWM value - * @param[in] deadbandMaxPwm the high range of the center deadband - * @param[in] centerPwm the center PWM value - * @param[in] deadbandMinPwm the low range of the center deadband - * @param[in] minPwm the minimum PWM value - * @param[out] status Error status variable. 0 on success. - */ -void HAL_GetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle, - int32_t* maxPwm, int32_t* deadbandMaxPwm, - int32_t* centerPwm, int32_t* deadbandMinPwm, - int32_t* minPwm, int32_t* status); - -/** - * Sets if the FPGA should output the center value if the input value is within - * the deadband. - * - * @param[in] pwmPortHandle the PWM handle - * @param[in] eliminateDeadband true to eliminate deadband, otherwise false - * @param[out] status Error status variable. 0 on success. - */ -void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, - HAL_Bool eliminateDeadband, int32_t* status); - -/** - * Gets the current eliminate deadband value. - * - * @param[in] pwmPortHandle the PWM handle - * @param[out] status Error status variable. 0 on success. - * @return true if set, otherwise false - */ -HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, - int32_t* status); +void HAL_SetPWMSimDevice(HAL_DigitalHandle handle, HAL_SimDeviceHandle device); /** * Sets a PWM channel to the desired pulse width in microseconds. @@ -115,44 +66,6 @@ void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle, int32_t microsecondPulseTime, int32_t* status); -/** - * Sets a PWM channel to the desired scaled value. - * - * The values range from -1 to 1 and the period is controlled by the PWM Period - * and MinHigh registers. - * - * @param[in] pwmPortHandle the PWM handle - * @param[in] speed the scaled PWM value to set - * @param[out] status Error status variable. 0 on success. - */ -void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed, - int32_t* status); - -/** - * Sets a PWM channel to the desired position value. - * - * The values range from 0 to 1 and the period is controlled by the PWM Period - * and MinHigh registers. - * - * @param[in] pwmPortHandle the PWM handle - * @param[in] position the positional PWM value to set - * @param[out] status Error status variable. 0 on success. - */ -void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double position, - int32_t* status); - -/** - * Sets a PWM channel to be disabled. - * - * The channel is disabled until the next time it is set. Note this is different - * from just setting a 0 speed, as this will actively stop all signaling on the - * channel. - * - * @param[in] pwmPortHandle the PWM handle. - * @param[out] status Error status variable. 0 on success. - */ -void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status); - /** * Gets the current microsecond pulse time from a PWM channel. * @@ -164,70 +77,14 @@ int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle, int32_t* status); /** - * Gets a scaled value from a PWM channel. - * - * The values range from -1 to 1. - * - * @param[in] pwmPortHandle the PWM handle - * @param[out] status Error status variable. 0 on success. - * @return the current speed PWM value - */ -double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status); - -/** - * Gets a position value from a PWM channel. - * - * The values range from 0 to 1. - * - * @param[in] pwmPortHandle the PWM handle - * @param[out] status Error status variable. 0 on success. - * @return the current positional PWM value - */ -double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status); - -/** - * Forces a PWM signal to go to 0 temporarily. + * Sets the PWM output period. * * @param[in] pwmPortHandle the PWM handle. + * @param[in] period 0 for 5ms, 1 or 2 for 10ms, 3 for 20ms * @param[out] status Error status variable. 0 on success. */ -void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status); - -/** - * Sets how how often the PWM signal is squelched, thus scaling the period. - * - * @param[in] pwmPortHandle the PWM handle. - * @param[in] squelchMask the 2-bit mask of outputs to squelch - * @param[out] status Error status variable. 0 on success. - */ -void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, - int32_t* status); - -/** - * Sets the PWM output to be a continuous high signal while enabled. - * - * @param[in] pwmPortHandle the PWM handle. - * @param[out] status Error status variable. 0 on success. - */ -void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle, int32_t* status); - -/** - * Gets the loop timing of the PWM system. - * - * @param[out] status Error status variable. 0 on success. - * @return the loop time in clock ticks - */ -int32_t HAL_GetPWMLoopTiming(int32_t* status); - -/** - * Gets the pwm starting cycle time. - * - * This time is relative to the FPGA time. - * - * @param[out] status Error status variable. 0 on success. - * @return the pwm cycle start time - */ -uint64_t HAL_GetPWMCycleStartTime(int32_t* status); +void HAL_SetPWMOutputPeriod(HAL_DigitalHandle pwmPortHandle, int32_t period, + int32_t* status); #ifdef __cplusplus } // extern "C" #endif diff --git a/hal/src/main/native/include/hal/simulation/PWMData.h b/hal/src/main/native/include/hal/simulation/PWMData.h index 8357fa23dd..fd74576fdc 100644 --- a/hal/src/main/native/include/hal/simulation/PWMData.h +++ b/hal/src/main/native/include/hal/simulation/PWMData.h @@ -20,6 +20,8 @@ void HALSIM_CancelPWMInitializedCallback(int32_t index, int32_t uid); HAL_Bool HALSIM_GetPWMInitialized(int32_t index); void HALSIM_SetPWMInitialized(int32_t index, HAL_Bool initialized); +HAL_SimDeviceHandle HALSIM_GetPWMSimDevice(int32_t index); + int32_t HALSIM_RegisterPWMPulseMicrosecondCallback(int32_t index, HAL_NotifyCallback callback, void* param, @@ -28,35 +30,13 @@ void HALSIM_CancelPWMPulseMicrosecondCallback(int32_t index, int32_t uid); int32_t HALSIM_GetPWMPulseMicrosecond(int32_t index); void HALSIM_SetPWMPulseMicrosecond(int32_t index, int32_t microsecondPulseTime); -int32_t HALSIM_RegisterPWMSpeedCallback(int32_t index, - HAL_NotifyCallback callback, - void* param, HAL_Bool initialNotify); -void HALSIM_CancelPWMSpeedCallback(int32_t index, int32_t uid); -double HALSIM_GetPWMSpeed(int32_t index); -void HALSIM_SetPWMSpeed(int32_t index, double speed); - -int32_t HALSIM_RegisterPWMPositionCallback(int32_t index, - HAL_NotifyCallback callback, - void* param, HAL_Bool initialNotify); -void HALSIM_CancelPWMPositionCallback(int32_t index, int32_t uid); -double HALSIM_GetPWMPosition(int32_t index); -void HALSIM_SetPWMPosition(int32_t index, double position); - -int32_t HALSIM_RegisterPWMPeriodScaleCallback(int32_t index, - HAL_NotifyCallback callback, - void* param, - HAL_Bool initialNotify); -void HALSIM_CancelPWMPeriodScaleCallback(int32_t index, int32_t uid); -int32_t HALSIM_GetPWMPeriodScale(int32_t index); -void HALSIM_SetPWMPeriodScale(int32_t index, int32_t periodScale); - -int32_t HALSIM_RegisterPWMZeroLatchCallback(int32_t index, - HAL_NotifyCallback callback, - void* param, - HAL_Bool initialNotify); -void HALSIM_CancelPWMZeroLatchCallback(int32_t index, int32_t uid); -HAL_Bool HALSIM_GetPWMZeroLatch(int32_t index); -void HALSIM_SetPWMZeroLatch(int32_t index, HAL_Bool zeroLatch); +int32_t HALSIM_RegisterPWMOutputPeriodCallback(int32_t index, + HAL_NotifyCallback callback, + void* param, + HAL_Bool initialNotify); +void HALSIM_CancelPWMOutputPeriodCallback(int32_t index, int32_t uid); +int32_t HALSIM_GetPWMOutputPeriod(int32_t index); +void HALSIM_SetPWMOutputPeriod(int32_t index, int32_t periodScale); void HALSIM_RegisterPWMAllCallbacks(int32_t index, HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify); diff --git a/hal/src/main/native/sim/DigitalInternal.h b/hal/src/main/native/sim/DigitalInternal.h index e92b10664a..079d9dd8b9 100644 --- a/hal/src/main/native/sim/DigitalInternal.h +++ b/hal/src/main/native/sim/DigitalInternal.h @@ -42,13 +42,6 @@ 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; int32_t filterIndex = 0; std::string previousAllocation; }; diff --git a/hal/src/main/native/sim/PWM.cpp b/hal/src/main/native/sim/PWM.cpp index 19d4a6b6c0..4d79ca38c3 100644 --- a/hal/src/main/native/sim/PWM.cpp +++ b/hal/src/main/native/sim/PWM.cpp @@ -21,46 +21,6 @@ namespace hal::init { void InitializePWM() {} } // namespace hal::init -static inline int32_t GetMaxPositivePwm(DigitalPort* port) { - return port->maxPwm; -} - -static inline int32_t GetMinPositivePwm(DigitalPort* port) { - if (port->eliminateDeadband) { - return port->deadbandMaxPwm; - } else { - return port->centerPwm + 1; - } -} - -static inline int32_t GetCenterPwm(DigitalPort* port) { - return port->centerPwm; -} - -static inline int32_t GetMaxNegativePwm(DigitalPort* port) { - if (port->eliminateDeadband) { - return port->deadbandMinPwm; - } else { - return port->centerPwm - 1; - } -} - -static inline int32_t GetMinNegativePwm(DigitalPort* port) { - return port->minPwm; -} - -static inline int32_t GetPositiveScaleFactor(DigitalPort* port) { - return GetMaxPositivePwm(port) - GetMinPositivePwm(port); -} ///< The scale for positive speeds. - -static inline int32_t GetNegativeScaleFactor(DigitalPort* port) { - return GetMaxNegativePwm(port) - GetMinNegativePwm(port); -} ///< The scale for negative speeds. - -static inline int32_t GetFullRangeScaleFactor(DigitalPort* port) { - return GetMaxPositivePwm(port) - GetMinNegativePwm(port); -} ///< The scale for positions. - extern "C" { HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel, @@ -103,8 +63,8 @@ HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel, SimPWMData[origChannel].initialized = true; - // Defaults to allow an always valid config. - HAL_SetPWMConfigMicroseconds(handle, 2000, 1501, 1500, 1499, 1000, status); + // Disable output. + HAL_SetPWMPulseTimeMicroseconds(handle, 0, status); port->previousAllocation = allocationLocation ? allocationLocation : ""; @@ -125,58 +85,12 @@ HAL_Bool HAL_CheckPWMChannel(int32_t channel) { return channel < kNumPWMChannels && channel >= 0; } -void HAL_SetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle, int32_t max, - int32_t deadbandMax, int32_t center, - int32_t deadbandMin, int32_t min, - int32_t* status) { - auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); +void HAL_SetPWMSimDevice(HAL_DigitalHandle handle, HAL_SimDeviceHandle device) { + auto port = digitalChannelHandles->Get(handle, HAL_HandleEnum::PWM); if (port == nullptr) { - *status = HAL_HANDLE_ERROR; return; } - - port->maxPwm = max; - port->deadbandMaxPwm = deadbandMax; - port->deadbandMinPwm = deadbandMin; - port->centerPwm = center; - port->minPwm = min; - port->configSet = true; -} - -void HAL_GetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle, - int32_t* maxPwm, int32_t* deadbandMaxPwm, - int32_t* centerPwm, int32_t* deadbandMinPwm, - int32_t* minPwm, int32_t* status) { - auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - *maxPwm = port->maxPwm; - *deadbandMaxPwm = port->deadbandMaxPwm; - *deadbandMinPwm = port->deadbandMinPwm; - *centerPwm = port->centerPwm; - *minPwm = port->minPwm; -} - -void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, - HAL_Bool eliminateDeadband, int32_t* status) { - auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - port->eliminateDeadband = eliminateDeadband; -} - -HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, - int32_t* status) { - auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return false; - } - return port->eliminateDeadband; + SimPWMData[port->channel].simDevice = device; } void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle, @@ -188,129 +102,6 @@ void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle, } SimPWMData[port->channel].pulseMicrosecond = value; - - DigitalPort* dPort = port.get(); - double speed = 0.0; - - if (value == kPwmDisabled) { - speed = 0.0; - } else if (value > GetMaxPositivePwm(dPort)) { - speed = 1.0; - } else if (value < GetMinNegativePwm(dPort)) { - speed = -1.0; - } else if (value > GetMinPositivePwm(dPort)) { - speed = static_cast(value - GetMinPositivePwm(dPort)) / - static_cast(GetPositiveScaleFactor(dPort)); - } else if (value < GetMaxNegativePwm(dPort)) { - speed = static_cast(value - GetMaxNegativePwm(dPort)) / - static_cast(GetNegativeScaleFactor(dPort)); - } else { - speed = 0.0; - } - - SimPWMData[port->channel].speed = speed; - - double pos = 0.0; - - if (value < GetMinNegativePwm(dPort)) { - pos = 0.0; - } else if (value > GetMaxPositivePwm(dPort)) { - pos = 1.0; - } else { - pos = static_cast(value - GetMinNegativePwm(dPort)) / - static_cast(GetFullRangeScaleFactor(dPort)); - } - - SimPWMData[port->channel].position = pos; -} - -void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed, - int32_t* status) { - auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - if (!port->configSet) { - *status = INCOMPATIBLE_STATE; - return; - } - - if (std::isfinite(speed)) { - speed = std::clamp(speed, -1.0, 1.0); - } else { - speed = 0.0; - } - - DigitalPort* dPort = port.get(); - - // calculate the desired output pwm value by scaling the speed appropriately - int32_t rawValue; - if (speed == 0.0) { - rawValue = GetCenterPwm(dPort); - } else if (speed > 0.0) { - rawValue = - std::lround(speed * static_cast(GetPositiveScaleFactor(dPort)) + - static_cast(GetMinPositivePwm(dPort))); - } else { - rawValue = - std::lround(speed * static_cast(GetNegativeScaleFactor(dPort)) + - static_cast(GetMaxNegativePwm(dPort))); - } - - if (!((rawValue >= GetMinNegativePwm(dPort)) && - (rawValue <= GetMaxPositivePwm(dPort))) || - rawValue == kPwmDisabled) { - *status = HAL_PWM_SCALE_ERROR; - return; - } - - HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status); -} - -void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos, - int32_t* status) { - auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - if (!port->configSet) { - *status = INCOMPATIBLE_STATE; - return; - } - - if (pos < 0.0) { - pos = 0.0; - } else if (pos > 1.0) { - pos = 1.0; - } - - DigitalPort* dPort = port.get(); - - // note, need to perform the multiplication below as floating point before - // converting to int - int32_t rawValue = static_cast( - (pos * static_cast(GetFullRangeScaleFactor(dPort))) + - GetMinNegativePwm(dPort)); - - if (rawValue == kPwmDisabled) { - *status = HAL_PWM_SCALE_ERROR; - return; - } - - HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status); -} - -void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) { - auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - SimPWMData[port->channel].pulseMicrosecond = 0; - SimPWMData[port->channel].position = 0; - SimPWMData[port->channel].speed = 0; } int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle, @@ -324,88 +115,15 @@ int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle, return SimPWMData[port->channel].pulseMicrosecond; } -double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) { - auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return 0; - } - if (!port->configSet) { - *status = INCOMPATIBLE_STATE; - return 0; - } - - double speed = SimPWMData[port->channel].speed; - if (speed > 1) { - speed = 1; - } - if (speed < -1) { - speed = -1; - } - return speed; -} - -double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) { - auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return 0; - } - if (!port->configSet) { - *status = INCOMPATIBLE_STATE; - return 0; - } - - double position = SimPWMData[port->channel].position; - if (position > 1) { - position = 1; - } - if (position < 0) { - position = 0; - } - return position; -} - -void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) { +void HAL_SetPWMOutputPeriod(HAL_DigitalHandle pwmPortHandle, int32_t period, + int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; } - SimPWMData[port->channel].zeroLatch = true; - SimPWMData[port->channel].zeroLatch = false; + SimPWMData[port->channel].outputPeriod = period; } -void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle, - int32_t* status) { - auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - - SimPWMData[port->channel].pulseMicrosecond = 0xFFFF; - SimPWMData[port->channel].position = 0xFFFF; - SimPWMData[port->channel].speed = 0xFFFF; -} - -void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, - int32_t* status) { - auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - - SimPWMData[port->channel].periodScale = squelchMask; -} - -int32_t HAL_GetPWMLoopTiming(int32_t* status) { - return kExpectedLoopTiming; -} - -uint64_t HAL_GetPWMCycleStartTime(int32_t* status) { - return 0; -} } // extern "C" diff --git a/hal/src/main/native/sim/mockdata/PWMData.cpp b/hal/src/main/native/sim/mockdata/PWMData.cpp index 005d95d979..576c38b305 100644 --- a/hal/src/main/native/sim/mockdata/PWMData.cpp +++ b/hal/src/main/native/sim/mockdata/PWMData.cpp @@ -17,11 +17,9 @@ void InitializePWMData() { PWMData* hal::SimPWMData; void PWMData::ResetData() { initialized.Reset(false); + simDevice = 0; pulseMicrosecond.Reset(0); - speed.Reset(0); - position.Reset(0); - periodScale.Reset(0); - zeroLatch.Reset(false); + outputPeriod.Reset(0); } extern "C" { @@ -29,16 +27,17 @@ void HALSIM_ResetPWMData(int32_t index) { SimPWMData[index].ResetData(); } +HAL_SimDeviceHandle HALSIM_GetPWMSimDevice(int32_t index) { + return SimPWMData[index].simDevice; +} + #define DEFINE_CAPI(TYPE, CAPINAME, LOWERNAME) \ HAL_SIMDATAVALUE_DEFINE_CAPI(TYPE, HALSIM, PWM##CAPINAME, SimPWMData, \ LOWERNAME) DEFINE_CAPI(HAL_Bool, Initialized, initialized) DEFINE_CAPI(int32_t, PulseMicrosecond, pulseMicrosecond) -DEFINE_CAPI(double, Speed, speed) -DEFINE_CAPI(double, Position, position) -DEFINE_CAPI(int32_t, PeriodScale, periodScale) -DEFINE_CAPI(HAL_Bool, ZeroLatch, zeroLatch) +DEFINE_CAPI(int32_t, OutputPeriod, outputPeriod) #define REGISTER(NAME) \ SimPWMData[index].NAME.RegisterCallback(callback, param, initialNotify) @@ -47,9 +46,6 @@ void HALSIM_RegisterPWMAllCallbacks(int32_t index, HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) { REGISTER(initialized); REGISTER(pulseMicrosecond); - REGISTER(speed); - REGISTER(position); - REGISTER(periodScale); - REGISTER(zeroLatch); + REGISTER(outputPeriod); } } // extern "C" diff --git a/hal/src/main/native/sim/mockdata/PWMDataInternal.h b/hal/src/main/native/sim/mockdata/PWMDataInternal.h index dd31a2ab66..814d861e8a 100644 --- a/hal/src/main/native/sim/mockdata/PWMDataInternal.h +++ b/hal/src/main/native/sim/mockdata/PWMDataInternal.h @@ -11,20 +11,15 @@ namespace hal { class PWMData { HAL_SIMDATAVALUE_DEFINE_NAME(Initialized) HAL_SIMDATAVALUE_DEFINE_NAME(PulseMicrosecond) - HAL_SIMDATAVALUE_DEFINE_NAME(Speed) - HAL_SIMDATAVALUE_DEFINE_NAME(Position) - HAL_SIMDATAVALUE_DEFINE_NAME(PeriodScale) - HAL_SIMDATAVALUE_DEFINE_NAME(ZeroLatch) + HAL_SIMDATAVALUE_DEFINE_NAME(OutputPeriod) public: SimDataValue initialized{ false}; + std::atomic simDevice; SimDataValue pulseMicrosecond{ 0}; - SimDataValue speed{0}; - SimDataValue position{0}; - SimDataValue periodScale{0}; - SimDataValue zeroLatch{false}; + SimDataValue outputPeriod{0}; virtual void ResetData(); }; diff --git a/hal/src/main/native/systemcore/PWM.cpp b/hal/src/main/native/systemcore/PWM.cpp index 83b3fe5818..60fe4f1a50 100644 --- a/hal/src/main/native/systemcore/PWM.cpp +++ b/hal/src/main/native/systemcore/PWM.cpp @@ -22,46 +22,6 @@ using namespace hal; -static inline int32_t GetMaxPositivePwm(SmartIo* port) { - return port->maxPwm; -} - -static inline int32_t GetMinPositivePwm(SmartIo* port) { - if (port->eliminateDeadband) { - return port->deadbandMaxPwm; - } else { - return port->centerPwm + 1; - } -} - -static inline int32_t GetCenterPwm(SmartIo* port) { - return port->centerPwm; -} - -static inline int32_t GetMaxNegativePwm(SmartIo* port) { - if (port->eliminateDeadband) { - return port->deadbandMinPwm; - } else { - return port->centerPwm - 1; - } -} - -static inline int32_t GetMinNegativePwm(SmartIo* port) { - return port->minPwm; -} - -static inline int32_t GetPositiveScaleFactor(SmartIo* port) { - return GetMaxPositivePwm(port) - GetMinPositivePwm(port); -} ///< The scale for positive speeds. - -static inline int32_t GetNegativeScaleFactor(SmartIo* port) { - return GetMaxNegativePwm(port) - GetMinNegativePwm(port); -} ///< The scale for negative speeds. - -static inline int32_t GetFullRangeScaleFactor(SmartIo* port) { - return GetMaxPositivePwm(port) - GetMinNegativePwm(port); -} ///< The scale for positions. - namespace hal::init { void InitializePWM() {} } // namespace hal::init @@ -104,8 +64,8 @@ HAL_DigitalHandle HAL_InitializePWMPort(int32_t channel, return HAL_kInvalidHandle; } - // Defaults to allow an always valid config. - HAL_SetPWMConfigMicroseconds(handle, 2000, 1501, 1500, 1499, 1000, status); + // Disable the PWM output. + HAL_SetPWMPulseTimeMicroseconds(handle, 0, status); if (*status != 0) { smartIoHandles->Free(handle, HAL_HandleEnum::PWM); return HAL_kInvalidHandle; @@ -137,63 +97,13 @@ void HAL_FreePWMPort(HAL_DigitalHandle pwmPortHandle) { } } +void HAL_SetPWMSimDevice(HAL_DigitalHandle handle, HAL_SimDeviceHandle device) { +} + HAL_Bool HAL_CheckPWMChannel(int32_t channel) { return channel < kNumSmartIo && channel >= 0; } -void HAL_SetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle, int32_t max, - int32_t deadbandMax, int32_t center, - int32_t deadbandMin, int32_t min, - int32_t* status) { - auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - port->maxPwm = max; - port->deadbandMaxPwm = deadbandMax; - port->deadbandMinPwm = deadbandMin; - port->centerPwm = center; - port->minPwm = min; - port->configSet = true; -} - -void HAL_GetPWMConfigMicroseconds(HAL_DigitalHandle pwmPortHandle, - int32_t* maxPwm, int32_t* deadbandMaxPwm, - int32_t* centerPwm, int32_t* deadbandMinPwm, - int32_t* minPwm, int32_t* status) { - auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - *maxPwm = port->maxPwm; - *deadbandMaxPwm = port->deadbandMaxPwm; - *deadbandMinPwm = port->deadbandMinPwm; - *centerPwm = port->centerPwm; - *minPwm = port->minPwm; -} - -void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, - HAL_Bool eliminateDeadband, int32_t* status) { - auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - port->eliminateDeadband = eliminateDeadband; -} - -HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, - int32_t* status) { - auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return false; - } - return port->eliminateDeadband; -} - void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle, int32_t microsecondPulseTime, int32_t* status) { @@ -216,87 +126,6 @@ void HAL_SetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle, *status = port->SetPwmMicroseconds(microsecondPulseTime); } -void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed, - int32_t* status) { - auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - if (!port->configSet) { - *status = INCOMPATIBLE_STATE; - return; - } - - SmartIo* dPort = port.get(); - - if (std::isfinite(speed)) { - speed = std::clamp(speed, -1.0, 1.0); - } else { - speed = 0.0; - } - - // calculate the desired output pwm value by scaling the speed appropriately - int32_t rawValue; - if (speed == 0.0) { - rawValue = GetCenterPwm(dPort); - } else if (speed > 0.0) { - rawValue = - std::lround(speed * static_cast(GetPositiveScaleFactor(dPort)) + - static_cast(GetMinPositivePwm(dPort))); - } else { - rawValue = - std::lround(speed * static_cast(GetNegativeScaleFactor(dPort)) + - static_cast(GetMaxNegativePwm(dPort))); - } - - if (!((rawValue >= GetMinNegativePwm(dPort)) && - (rawValue <= GetMaxPositivePwm(dPort))) || - rawValue == kPwmDisabled) { - *status = HAL_PWM_SCALE_ERROR; - return; - } - - HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status); -} - -void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos, - int32_t* status) { - auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - if (!port->configSet) { - *status = INCOMPATIBLE_STATE; - return; - } - SmartIo* dPort = port.get(); - - if (pos < 0.0) { - pos = 0.0; - } else if (pos > 1.0) { - pos = 1.0; - } - - // note, need to perform the multiplication below as floating point before - // converting to int - int32_t rawValue = static_cast( - (pos * static_cast(GetFullRangeScaleFactor(dPort))) + - GetMinNegativePwm(dPort)); - - if (rawValue == kPwmDisabled) { - *status = HAL_PWM_SCALE_ERROR; - return; - } - - HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, rawValue, status); -} - -void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) { - HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, kPwmDisabled, status); -} - int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle, int32_t* status) { auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); @@ -310,79 +139,15 @@ int32_t HAL_GetPWMPulseTimeMicroseconds(HAL_DigitalHandle pwmPortHandle, return microseconds; } -double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) { - auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return 0; - } - if (!port->configSet) { - *status = INCOMPATIBLE_STATE; - return 0; - } - - int32_t value = HAL_GetPWMPulseTimeMicroseconds(pwmPortHandle, status); - if (*status != 0) { - return 0; - } - SmartIo* dPort = port.get(); - if (value == kPwmDisabled) { - return 0.0; - } else if (value > GetMaxPositivePwm(dPort)) { - return 1.0; - } else if (value < GetMinNegativePwm(dPort)) { - return -1.0; - } else if (value > GetMinPositivePwm(dPort)) { - return static_cast(value - GetMinPositivePwm(dPort)) / - static_cast(GetPositiveScaleFactor(dPort)); - } else if (value < GetMaxNegativePwm(dPort)) { - return static_cast(value - GetMaxNegativePwm(dPort)) / - static_cast(GetNegativeScaleFactor(dPort)); - } else { - return 0.0; - } -} - -double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) { - auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return 0; - } - if (!port->configSet) { - *status = INCOMPATIBLE_STATE; - return 0; - } - - int32_t value = HAL_GetPWMPulseTimeMicroseconds(pwmPortHandle, status); - if (*status != 0) { - return 0; - } - SmartIo* dPort = port.get(); - - if (value < GetMinNegativePwm(dPort)) { - return 0.0; - } else if (value > GetMaxPositivePwm(dPort)) { - return 1.0; - } else { - return static_cast(value - GetMinNegativePwm(dPort)) / - static_cast(GetFullRangeScaleFactor(dPort)); - } -} - -void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) { - HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, 0, status); -} - -void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, - int32_t* status) { +void HAL_SetPWMOutputPeriod(HAL_DigitalHandle pwmPortHandle, int32_t period, + int32_t* status) { auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { *status = HAL_HANDLE_ERROR; return; } - switch (squelchMask) { + switch (period) { case 0: *status = port->SetPwmOutputPeriod(hal::PwmOutputPeriod::k5ms); break; @@ -399,31 +164,4 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, } } -void HAL_SetPWMAlwaysHighMode(HAL_DigitalHandle pwmPortHandle, - int32_t* status) { - // Always high is going to have to use a 2ms period - auto port = smartIoHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); - if (port == nullptr) { - *status = HAL_HANDLE_ERROR; - return; - } - - *status = port->SetPwmOutputPeriod(hal::PwmOutputPeriod::k2ms); - if (*status != 0) { - return; - } - - HAL_SetPWMPulseTimeMicroseconds(pwmPortHandle, kPwmAlwaysHigh, status); -} - -int32_t HAL_GetPWMLoopTiming(int32_t* status) { - // TODO(thad) not currently supported - return 0; -} - -uint64_t HAL_GetPWMCycleStartTime(int32_t* status) { - // TODO(thad) not currently supported - return 0; -} - } // extern "C" diff --git a/hal/src/main/native/systemcore/SmartIo.h b/hal/src/main/native/systemcore/SmartIo.h index 9d9273b667..a93d7a8324 100644 --- a/hal/src/main/native/systemcore/SmartIo.h +++ b/hal/src/main/native/systemcore/SmartIo.h @@ -36,13 +36,6 @@ enum class PwmOutputPeriod { struct SmartIo { 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; std::string previousAllocation; SmartIoMode currentMode{SmartIoMode::DigitalInput}; nt::IntegerPublisher modePublisher; diff --git a/hal/src/main/native/systemcore/mockdata/PWMData.cpp b/hal/src/main/native/systemcore/mockdata/PWMData.cpp index 4fb6bcf13a..37b5649c13 100644 --- a/hal/src/main/native/systemcore/mockdata/PWMData.cpp +++ b/hal/src/main/native/systemcore/mockdata/PWMData.cpp @@ -9,15 +9,16 @@ extern "C" { void HALSIM_ResetPWMData(int32_t index) {} +HAL_SimDeviceHandle HALSIM_GetPWMSimDevice(int32_t index) { + return 0; +} + #define DEFINE_CAPI(TYPE, CAPINAME, RETURN) \ HAL_SIMDATAVALUE_STUB_CAPI(TYPE, HALSIM, PWM##CAPINAME, RETURN) DEFINE_CAPI(HAL_Bool, Initialized, false) DEFINE_CAPI(int32_t, PulseMicrosecond, 0) -DEFINE_CAPI(double, Speed, 0) -DEFINE_CAPI(double, Position, 0) -DEFINE_CAPI(int32_t, PeriodScale, 0) -DEFINE_CAPI(HAL_Bool, ZeroLatch, false) +DEFINE_CAPI(int32_t, OutputPeriod, 0) void HALSIM_RegisterPWMAllCallbacks(int32_t index, HAL_NotifyCallback callback, void* param, HAL_Bool initialNotify) {} diff --git a/romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/RomiMotor.java b/romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/RomiMotor.java index 1a56bf78bc..fc49a9cf5a 100644 --- a/romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/RomiMotor.java +++ b/romiVendordep/src/main/java/edu/wpi/first/wpilibj/romi/RomiMotor.java @@ -15,9 +15,8 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController; public class RomiMotor extends PWMMotorController { /** Common initialization code called by all constructors. */ protected final void initRomiMotor() { - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); } /** diff --git a/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp b/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp index 729dc038d3..bb3867b652 100644 --- a/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp +++ b/romiVendordep/src/main/native/cpp/romi/RomiMotor.cpp @@ -7,7 +7,6 @@ using namespace frc; RomiMotor::RomiMotor(int channel) : PWMMotorController("Romi Motor", channel) { - m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X); - m_pwm.SetSpeed(0.0); - m_pwm.SetZeroLatch(); + m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms); + SetSpeed(0.0); } diff --git a/shared/ceres.gradle b/shared/ceres.gradle index 550fd6c9e7..beaaa113f3 100644 --- a/shared/ceres.gradle +++ b/shared/ceres.gradle @@ -4,7 +4,6 @@ nativeUtils { groupId = "edu.wpi.first.thirdparty.frc2024.ceres" artifactId = "ceres-cpp" headerClassifier = "headers" - sourceClassifier = "sources" ext = "zip" version = '2.2-3' targetPlatforms.addAll(nativeUtils.wpi.platforms.desktopPlatforms) diff --git a/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp b/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp index 74e4cb8fa3..dec443169f 100644 --- a/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp +++ b/simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp @@ -18,7 +18,7 @@ using namespace halsimgui; namespace { -HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(PWMSpeed, "PWM"); +HALSIMGUI_DATASOURCE_DOUBLE_INDEXED(PWMPulseMicrosecond, "PWM"); class PWMSimModel : public glass::PWMModel { public: @@ -33,12 +33,14 @@ class PWMSimModel : public glass::PWMModel { glass::DoubleSource* GetSpeedData() override { return &m_speed; } - void SetSpeed(double val) override { HALSIM_SetPWMSpeed(m_index, val); } + void SetSpeed(double val) override { + HALSIM_SetPWMPulseMicrosecond(m_index, val); + } private: int32_t m_index; int m_led = -1; - PWMSpeedSource m_speed; + PWMPulseMicrosecondSource m_speed; }; class PWMsSimModel : public glass::PWMsModel { diff --git a/simulation/halsim_ws_core/doc/hardware_ws_api.md b/simulation/halsim_ws_core/doc/hardware_ws_api.md index 2822f6534e..1a41df9e29 100644 --- a/simulation/halsim_ws_core/doc/hardware_ws_api.md +++ b/simulation/halsim_ws_core/doc/hardware_ws_api.md @@ -265,11 +265,8 @@ PWMs may be used to control either motor controllers or servos. Typically only | Data Key | Type | Description | | ------------------- | ------- | ------------------------------------------ | | ``" squelch every other value; `3` -> squelch 3 of 4 values) | -| ``" squelch every other value; `3` -> squelch 3 of 4 values) | #### Solenoid Output ("Solenoid") diff --git a/simulation/halsim_ws_core/doc/wpilib-ws.yaml b/simulation/halsim_ws_core/doc/wpilib-ws.yaml index c98ea1220a..f2d39fc947 100644 --- a/simulation/halsim_ws_core/doc/wpilib-ws.yaml +++ b/simulation/halsim_ws_core/doc/wpilib-ws.yaml @@ -505,25 +505,12 @@ components: squelch every other value; `3` -> squelch 3 of 4 values)" - "(mult)); } FRC_CheckErrorStatus(status, "Channel {}", m_channel); } -void PWM::SetZeroLatch() { - int32_t status = 0; - HAL_LatchPWMZero(m_handle, &status); - FRC_CheckErrorStatus(status, "Channel {}", m_channel); -} - -void PWM::EnableDeadbandElimination(bool eliminateDeadband) { - int32_t status = 0; - HAL_SetPWMEliminateDeadband(m_handle, eliminateDeadband, &status); - FRC_CheckErrorStatus(status, "Channel {}", m_channel); -} - -void PWM::SetBounds(units::microsecond_t max, units::microsecond_t deadbandMax, - units::microsecond_t center, - units::microsecond_t deadbandMin, - units::microsecond_t min) { - int32_t status = 0; - HAL_SetPWMConfigMicroseconds(m_handle, max.value(), deadbandMax.value(), - center.value(), deadbandMin.value(), min.value(), - &status); - FRC_CheckErrorStatus(status, "Channel {}", m_channel); -} - -void PWM::GetBounds(units::microsecond_t* max, - units::microsecond_t* deadbandMax, - units::microsecond_t* center, - units::microsecond_t* deadbandMin, - units::microsecond_t* min) { - int32_t status = 0; - int32_t rawMax, rawDeadbandMax, rawCenter, rawDeadbandMin, rawMin; - HAL_GetPWMConfigMicroseconds(m_handle, &rawMax, &rawDeadbandMax, &rawCenter, - &rawDeadbandMin, &rawMin, &status); - *max = units::microsecond_t{static_cast(rawMax)}; - *deadbandMax = units::microsecond_t{static_cast(rawDeadbandMax)}; - *center = units::microsecond_t{static_cast(rawCenter)}; - *deadbandMin = units::microsecond_t{static_cast(rawDeadbandMin)}; - *min = units::microsecond_t{static_cast(rawMin)}; - FRC_CheckErrorStatus(status, "Channel {}", m_channel); -} - -void PWM::SetAlwaysHighMode() { - int32_t status = 0; - HAL_SetPWMAlwaysHighMode(m_handle, &status); - FRC_CheckErrorStatus(status, "Channel {}", m_channel); -} - int PWM::GetChannel() const { return m_channel; } +void PWM::SetSimDevice(HAL_SimDeviceHandle device) { + HAL_SetPWMSimDevice(m_handle, device); +} + void PWM::InitSendable(wpi::SendableBuilder& builder) { builder.SetSmartDashboardType("PWM"); builder.SetActuator(true); builder.AddDoubleProperty( "Value", [=, this] { return GetPulseTime().value(); }, [=, this](double value) { SetPulseTime(units::millisecond_t{value}); }); - builder.AddDoubleProperty( - "Speed", [=, this] { return GetSpeed(); }, - [=, this](double value) { SetSpeed(value); }); - builder.AddDoubleProperty( - "Position", [=, this] { return GetPosition(); }, - [=, this](double value) { SetPosition(value); }); } diff --git a/wpilibc/src/main/native/cpp/Servo.cpp b/wpilibc/src/main/native/cpp/Servo.cpp index d038346257..abc6c73ca1 100644 --- a/wpilibc/src/main/native/cpp/Servo.cpp +++ b/wpilibc/src/main/native/cpp/Servo.cpp @@ -10,33 +10,44 @@ using namespace frc; -constexpr double Servo::kMaxServoAngle; -constexpr double Servo::kMinServoAngle; - -constexpr units::millisecond_t Servo::kDefaultMaxServoPWM; -constexpr units::millisecond_t Servo::kDefaultMinServoPWM; - -Servo::Servo(int channel) : PWM(channel) { - // Set minimum and maximum PWM values supported by the servo - SetBounds(kDefaultMaxServoPWM, 0.0_ms, 0.0_ms, 0.0_ms, kDefaultMinServoPWM); +Servo::Servo(int channel) : m_pwm(channel, false) { + wpi::SendableRegistry::Add(this, "Servo", channel); // Assign defaults for period multiplier for the servo PWM control signal - SetPeriodMultiplier(kPeriodMultiplier_4X); + m_pwm.SetOutputPeriod(PWM::kOutputPeriod_20Ms); HAL_ReportUsage("IO", channel, "Servo"); wpi::SendableRegistry::SetName(this, "Servo", channel); + + m_simDevice = hal::SimDevice{"Servo", channel}; + if (m_simDevice) { + m_simPosition = m_simDevice.CreateDouble("Position", true, 0.0); + m_pwm.SetSimDevice(m_simDevice); + } } void Servo::Set(double value) { - SetPosition(value); -} + value = std::clamp(value, 0.0, 1.0); + if (m_simPosition) { + m_simPosition.Set(value); + } -void Servo::SetOffline() { - SetDisabled(); + units::microsecond_t rawValue = + (value * GetFullRangeScaleFactor()) + m_minPwm; + + m_pwm.SetPulseTime(rawValue); } double Servo::Get() const { - return GetPosition(); + units::microsecond_t rawValue = m_pwm.GetPulseTime(); + + if (rawValue < m_minPwm) { + return 0.0; + } else if (rawValue > m_maxPwm) { + return 1.0; + } + return (rawValue - m_minPwm).to() / + GetFullRangeScaleFactor().to(); } void Servo::SetAngle(double degrees) { @@ -46,19 +57,11 @@ void Servo::SetAngle(double degrees) { degrees = kMaxServoAngle; } - SetPosition((degrees - kMinServoAngle) / GetServoAngleRange()); + Set((degrees - kMinServoAngle) / GetServoAngleRange()); } double Servo::GetAngle() const { - return GetPosition() * GetServoAngleRange() + kMinServoAngle; -} - -double Servo::GetMaxAngle() const { - return kMaxServoAngle; -} - -double Servo::GetMinAngle() const { - return kMinServoAngle; + return Get() * GetServoAngleRange() + kMinServoAngle; } void Servo::InitSendable(wpi::SendableBuilder& builder) { @@ -68,6 +71,14 @@ void Servo::InitSendable(wpi::SendableBuilder& builder) { [=, this](double value) { Set(value); }); } -double Servo::GetServoAngleRange() const { +double Servo::GetServoAngleRange() { return kMaxServoAngle - kMinServoAngle; } + +units::microsecond_t Servo::GetFullRangeScaleFactor() const { + return m_maxPwm - m_minPwm; +} + +int Servo::GetChannel() const { + return m_pwm.GetChannel(); +} diff --git a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp index f33a54d79c..3f971fd880 100644 --- a/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp +++ b/wpilibc/src/main/native/cpp/motorcontrol/PWMMotorController.cpp @@ -18,7 +18,7 @@ void PWMMotorController::Set(double speed) { if (m_isInverted) { speed = -speed; } - m_pwm.SetSpeed(speed); + SetSpeed(speed); for (auto& follower : m_nonowningFollowers) { follower->Set(speed); @@ -36,7 +36,7 @@ void PWMMotorController::SetVoltage(units::volt_t output) { } double PWMMotorController::Get() const { - return m_pwm.GetSpeed() * (m_isInverted ? -1.0 : 1.0); + return GetSpeed() * (m_isInverted ? -1.0 : 1.0); } units::volt_t PWMMotorController::GetVoltage() const { @@ -64,7 +64,11 @@ void PWMMotorController::Disable() { void PWMMotorController::StopMotor() { // Don't use Set(0) as that will feed the watch kitty - m_pwm.SetSpeed(0); + m_pwm.SetPulseTime(0_us); + + if (m_simSpeed) { + m_simSpeed.Set(0.0); + } for (auto& follower : m_nonowningFollowers) { follower->StopMotor(); @@ -83,7 +87,7 @@ int PWMMotorController::GetChannel() const { } void PWMMotorController::EnableDeadbandElimination(bool eliminateDeadband) { - m_pwm.EnableDeadbandElimination(eliminateDeadband); + m_eliminateDeadband = eliminateDeadband; } void PWMMotorController::AddFollower(PWMMotorController& follower) { @@ -95,6 +99,12 @@ WPI_IGNORE_DEPRECATED PWMMotorController::PWMMotorController(std::string_view name, int channel) : m_pwm(channel, false) { wpi::SendableRegistry::Add(this, name, channel); + + m_simDevice = hal::SimDevice{"PWMMotorController", channel}; + if (m_simDevice) { + m_simSpeed = m_simDevice.CreateDouble("Speed", true, 0.0); + m_pwm.SetSimDevice(m_simDevice); + } } WPI_UNIGNORE_DEPRECATED @@ -106,3 +116,86 @@ void PWMMotorController::InitSendable(wpi::SendableBuilder& builder) { "Value", [=, this] { return Get(); }, [=, this](double value) { Set(value); }); } + +units::microsecond_t PWMMotorController::GetMinPositivePwm() const { + if (m_eliminateDeadband) { + return m_deadbandMaxPwm; + } else { + return m_centerPwm + 1_us; + } +} + +units::microsecond_t PWMMotorController::GetMaxNegativePwm() const { + if (m_eliminateDeadband) { + return m_deadbandMinPwm; + } else { + return m_centerPwm - 1_us; + } +} + +units::microsecond_t PWMMotorController::GetPositiveScaleFactor() const { + return m_maxPwm - GetMinPositivePwm(); +} + +units::microsecond_t PWMMotorController::GetNegativeScaleFactor() const { + return GetMaxNegativePwm() - m_minPwm; +} + +void PWMMotorController::SetSpeed(double speed) { + if (std::isfinite(speed)) { + speed = std::clamp(speed, -1.0, 1.0); + } else { + speed = 0.0; + } + + if (m_simSpeed) { + m_simSpeed.Set(speed); + } + + units::microsecond_t rawValue; + if (speed == 0.0) { + rawValue = m_centerPwm; + } else if (speed > 0.0) { + rawValue = units::microsecond_t{static_cast(std::lround( + (speed * GetPositiveScaleFactor()).to()))} + + GetMinPositivePwm(); + } else { + rawValue = units::microsecond_t{static_cast(std::lround( + (speed * GetNegativeScaleFactor()).to()))} + + GetMaxNegativePwm(); + } + + m_pwm.SetPulseTime(rawValue); +} + +double PWMMotorController::GetSpeed() const { + units::microsecond_t rawValue = m_pwm.GetPulseTime(); + + if (rawValue == 0_us) { + return 0.0; + } else if (rawValue > m_maxPwm) { + return 1.0; + } else if (rawValue < m_minPwm) { + return -1.0; + } else if (rawValue > GetMinPositivePwm()) { + return ((rawValue - GetMinPositivePwm()) / GetPositiveScaleFactor()) + .to(); + } else if (rawValue < GetMaxNegativePwm()) { + return ((rawValue - GetMaxNegativePwm()) / GetNegativeScaleFactor()) + .to(); + } else { + return 0.0; + } +} + +void PWMMotorController::SetBounds(units::microsecond_t maxPwm, + units::microsecond_t deadbandMaxPwm, + units::microsecond_t centerPwm, + units::microsecond_t deadbandMinPwm, + units::microsecond_t minPwm) { + m_maxPwm = maxPwm; + m_deadbandMaxPwm = deadbandMaxPwm; + m_centerPwm = centerPwm; + m_deadbandMinPwm = deadbandMinPwm; + m_minPwm = minPwm; +} diff --git a/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp b/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp new file mode 100644 index 0000000000..b0bea287c3 --- /dev/null +++ b/wpilibc/src/main/native/cpp/simulation/PWMMotorControllerSim.cpp @@ -0,0 +1,26 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#include "frc/simulation/PWMMotorControllerSim.h" + +#include +#include + +#include "frc/simulation/SimDeviceSim.h" + +using namespace frc; +using namespace frc::sim; + +PWMMotorControllerSim::PWMMotorControllerSim( + const PWMMotorController& motorctrl) + : PWMMotorControllerSim(motorctrl.GetChannel()) {} + +PWMMotorControllerSim::PWMMotorControllerSim(int channel) { + frc::sim::SimDeviceSim deviceSim{"PWMMotorController", channel}; + m_simSpeed = deviceSim.GetDouble("Speed"); +} + +double PWMMotorControllerSim::GetSpeed() const { + return m_simSpeed.Get(); +} diff --git a/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp b/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp index fa0e3ec7a5..ab5e27f70d 100644 --- a/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp +++ b/wpilibc/src/main/native/cpp/simulation/PWMSim.cpp @@ -16,9 +16,6 @@ using namespace frc::sim; PWMSim::PWMSim(const PWM& pwm) : m_index{pwm.GetChannel()} {} -PWMSim::PWMSim(const PWMMotorController& motorctrl) - : m_index{motorctrl.GetChannel()} {} - PWMSim::PWMSim(int channel) : m_index{channel} {} std::unique_ptr PWMSim::RegisterInitializedCallback( @@ -55,72 +52,21 @@ void PWMSim::SetPulseMicrosecond(int32_t microsecondPulseTime) { HALSIM_SetPWMPulseMicrosecond(m_index, microsecondPulseTime); } -std::unique_ptr PWMSim::RegisterSpeedCallback( - NotifyCallback callback, bool initialNotify) { - auto store = std::make_unique(m_index, -1, callback, - &HALSIM_CancelPWMSpeedCallback); - store->SetUid(HALSIM_RegisterPWMSpeedCallback(m_index, &CallbackStoreThunk, - store.get(), initialNotify)); - return store; -} - -double PWMSim::GetSpeed() const { - return HALSIM_GetPWMSpeed(m_index); -} - -void PWMSim::SetSpeed(double speed) { - HALSIM_SetPWMSpeed(m_index, speed); -} - -std::unique_ptr PWMSim::RegisterPositionCallback( +std::unique_ptr PWMSim::RegisterOutputPeriodCallback( NotifyCallback callback, bool initialNotify) { auto store = std::make_unique( - m_index, -1, callback, &HALSIM_CancelPWMPositionCallback); - store->SetUid(HALSIM_RegisterPWMPositionCallback(m_index, &CallbackStoreThunk, - store.get(), initialNotify)); - return store; -} - -double PWMSim::GetPosition() const { - return HALSIM_GetPWMPosition(m_index); -} - -void PWMSim::SetPosition(double position) { - HALSIM_SetPWMPosition(m_index, position); -} - -std::unique_ptr PWMSim::RegisterPeriodScaleCallback( - NotifyCallback callback, bool initialNotify) { - auto store = std::make_unique( - m_index, -1, callback, &HALSIM_CancelPWMPeriodScaleCallback); - store->SetUid(HALSIM_RegisterPWMPeriodScaleCallback( + m_index, -1, callback, &HALSIM_CancelPWMOutputPeriodCallback); + store->SetUid(HALSIM_RegisterPWMOutputPeriodCallback( m_index, &CallbackStoreThunk, store.get(), initialNotify)); return store; } -int PWMSim::GetPeriodScale() const { - return HALSIM_GetPWMPeriodScale(m_index); +int PWMSim::GetOutputPeriod() const { + return HALSIM_GetPWMOutputPeriod(m_index); } -void PWMSim::SetPeriodScale(int periodScale) { - HALSIM_SetPWMPeriodScale(m_index, periodScale); -} - -std::unique_ptr PWMSim::RegisterZeroLatchCallback( - NotifyCallback callback, bool initialNotify) { - auto store = std::make_unique( - m_index, -1, callback, &HALSIM_CancelPWMZeroLatchCallback); - store->SetUid(HALSIM_RegisterPWMZeroLatchCallback( - m_index, &CallbackStoreThunk, store.get(), initialNotify)); - return store; -} - -bool PWMSim::GetZeroLatch() const { - return HALSIM_GetPWMZeroLatch(m_index); -} - -void PWMSim::SetZeroLatch(bool zeroLatch) { - HALSIM_SetPWMZeroLatch(m_index, zeroLatch); +void PWMSim::SetOutputPeriod(int period) { + HALSIM_SetPWMOutputPeriod(m_index, period); } void PWMSim::ResetData() { diff --git a/wpilibc/src/main/native/cpp/simulation/ServoSim.cpp b/wpilibc/src/main/native/cpp/simulation/ServoSim.cpp new file mode 100644 index 0000000000..a6af4733de --- /dev/null +++ b/wpilibc/src/main/native/cpp/simulation/ServoSim.cpp @@ -0,0 +1,28 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#include "frc/simulation/ServoSim.h" + +#include +#include + +#include "frc/simulation/SimDeviceSim.h" + +using namespace frc; +using namespace frc::sim; + +ServoSim::ServoSim(const Servo& servo) : ServoSim(servo.GetChannel()) {} + +ServoSim::ServoSim(int channel) { + frc::sim::SimDeviceSim deviceSim{"Servo", channel}; + m_simPosition = deviceSim.GetDouble("Position"); +} + +double ServoSim::GetPosition() const { + return m_simPosition.Get(); +} + +double ServoSim::GetAngle() const { + return GetPosition() * Servo::GetServoAngleRange() + Servo::kMinServoAngle; +} diff --git a/wpilibc/src/main/native/include/frc/PWM.h b/wpilibc/src/main/native/include/frc/PWM.h index a7f174b9a3..bed2c6120b 100644 --- a/wpilibc/src/main/native/include/frc/PWM.h +++ b/wpilibc/src/main/native/include/frc/PWM.h @@ -27,21 +27,21 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper { public: friend class AddressableLED; /** - * Represents the amount to multiply the minimum servo-pulse pwm period by. + * Represents the output period in microseconds. */ - enum PeriodMultiplier { + enum OutputPeriod { /** - * Don't skip pulses. PWM pulses occur every 5.05 ms + * PWM pulses occur every 5 ms */ - kPeriodMultiplier_1X = 1, + kOutputPeriod_5Ms = 1, /** - * Skip every other pulse. PWM pulses occur every 10.10 ms + * PWM pulses occur every 10 ms */ - kPeriodMultiplier_2X = 2, + kOutputPeriod_10Ms = 2, /** - * Skip three out of four pulses. PWM pulses occur every 20.20 ms + * PWM pulses occur every 20 ms */ - kPeriodMultiplier_4X = 4 + kOutputPeriod_20Ms = 4 }; /** @@ -74,7 +74,7 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper { * * @param time Microsecond PWM value. */ - virtual void SetPulseTime(units::microsecond_t time); + void SetPulseTime(units::microsecond_t time); /** * Get the PWM pulse time directly from the hardware. @@ -83,122 +83,30 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper { * * @return Microsecond PWM control value. */ - virtual units::microsecond_t GetPulseTime() const; - - /** - * Set the PWM value based on a position. - * - * This is intended to be used by servos. - * - * @pre SetBounds() called. - * - * @param pos The position to set the servo between 0.0 and 1.0. - */ - virtual void SetPosition(double pos); - - /** - * Get the PWM value in terms of a position. - * - * This is intended to be used by servos. - * - * @pre SetBounds() called. - * - * @return The position the servo is set to between 0.0 and 1.0. - */ - virtual double GetPosition() const; - - /** - * Set the PWM value based on a speed. - * - * This is intended to be used by motor controllers. - * - * @pre SetBounds() called. - * - * @param speed The speed to set the motor controller between -1.0 and 1.0. - */ - virtual void SetSpeed(double speed); - - /** - * Get the PWM value in terms of speed. - * - * This is intended to be used by motor controllers. - * - * @pre SetBounds() called. - * - * @return The most recently set speed between -1.0 and 1.0. - */ - virtual double GetSpeed() const; + units::microsecond_t GetPulseTime() const; /** * Temporarily disables the PWM output. The next set call will re-enable * the output. */ - virtual void SetDisabled(); + void SetDisabled(); /** - * Slow down the PWM signal for old devices. + * Sets the PWM output period. * - * @param mult The period multiplier to apply to this channel + * @param mult The output period to apply to this channel */ - void SetPeriodMultiplier(PeriodMultiplier mult); - - /** - * Latches PWM to zero. - */ - void SetZeroLatch(); - - /** - * Optionally eliminate the deadband from a motor controller. - * - * @param eliminateDeadband If true, set the motor curve on the motor - * controller to eliminate the deadband in the middle - * of the range. Otherwise, keep the full range - * without modifying any values. - */ - void EnableDeadbandElimination(bool eliminateDeadband); - - /** - * Set the bounds on the PWM pulse widths. - * - * This sets the bounds on the PWM values for a particular type of controller. - * The values determine the upper and lower speeds as well as the deadband - * bracket. - * - * @param max The max PWM pulse width in us - * @param deadbandMax The high end of the deadband range pulse width in us - * @param center The center (off) pulse width in us - * @param deadbandMin The low end of the deadband pulse width in us - * @param min The minimum pulse width in us - */ - void SetBounds(units::microsecond_t max, units::microsecond_t deadbandMax, - units::microsecond_t center, units::microsecond_t deadbandMin, - units::microsecond_t min); - - /** - * Get the bounds on the PWM values. - * - * This gets the bounds on the PWM values for a particular each type of - * controller. The values determine the upper and lower speeds as well as the - * deadband bracket. - * - * @param max The maximum pwm value - * @param deadbandMax The high end of the deadband range - * @param center The center speed (off) - * @param deadbandMin The low end of the deadband range - * @param min The minimum pwm value - */ - void GetBounds(units::microsecond_t* max, units::microsecond_t* deadbandMax, - units::microsecond_t* center, - units::microsecond_t* deadbandMin, units::microsecond_t* min); - - /** - * Sets the PWM output to be a continuous high signal while enabled. - * - */ - void SetAlwaysHighMode(); + void SetOutputPeriod(OutputPeriod mult); int GetChannel() const; + /** + * Indicates this input is used by a simulated device. + * + * @param device simulated device handle + */ + void SetSimDevice(HAL_SimDeviceHandle device); + protected: void InitSendable(wpi::SendableBuilder& builder) override; diff --git a/wpilibc/src/main/native/include/frc/Servo.h b/wpilibc/src/main/native/include/frc/Servo.h index 76b39a0d90..244f8a2425 100644 --- a/wpilibc/src/main/native/include/frc/Servo.h +++ b/wpilibc/src/main/native/include/frc/Servo.h @@ -4,20 +4,27 @@ #pragma once +#include #include #include "frc/PWM.h" namespace frc { +namespace sim { +class ServoSim; +} // namespace sim + /** * Standard hobby style servo. * * The range parameters default to the appropriate values for the Hitec HS-322HD * servo provided in the FIRST Kit of Parts in 2008. */ -class Servo : public PWM { +class Servo : public wpi::Sendable, public wpi::SendableHelper { public: + friend class frc::sim::ServoSim; + /** * Constructor. * @@ -42,13 +49,6 @@ class Servo : public PWM { */ void Set(double value); - /** - * Set the servo to offline. - * - * Set the servo raw value to 0 (undriven) - */ - void SetOffline(); - /** * Get the servo position. * @@ -86,30 +86,27 @@ class Servo : public PWM { */ double GetAngle() const; - /** - * Get the maximum angle of the servo. - * - * @return The maximum angle of the servo in degrees. - */ - double GetMaxAngle() const; - - /** - * Get the minimum angle of the servo. - * - * @return The minimum angle of the servo in degrees. - */ - double GetMinAngle() const; + int GetChannel() const; void InitSendable(wpi::SendableBuilder& builder) override; private: - double GetServoAngleRange() const; + static double GetServoAngleRange(); + units::microsecond_t GetFullRangeScaleFactor() const; - static constexpr double kMaxServoAngle = 180.; + static constexpr double kMaxServoAngle = 180.0; static constexpr double kMinServoAngle = 0.0; static constexpr units::millisecond_t kDefaultMaxServoPWM = 2.4_ms; static constexpr units::millisecond_t kDefaultMinServoPWM = 0.6_ms; + + units::millisecond_t m_maxPwm = kDefaultMaxServoPWM; + units::millisecond_t m_minPwm = kDefaultMinServoPWM; + + hal::SimDevice m_simDevice; + hal::SimDouble m_simPosition; + + PWM m_pwm; }; } // namespace frc diff --git a/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h b/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h index 49ad52bca8..793d297317 100644 --- a/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h +++ b/wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h @@ -12,6 +12,7 @@ #include #include +#include #include #include #include @@ -133,11 +134,35 @@ class PWMMotorController : public MotorController, /// PWM instances for motor controller. PWM m_pwm; + void SetSpeed(double speed); + double GetSpeed() const; + + void SetBounds(units::microsecond_t maxPwm, + units::microsecond_t deadbandMaxPwm, + units::microsecond_t centerPwm, + units::microsecond_t deadbandMinPwm, + units::microsecond_t minPwm); + private: bool m_isInverted = false; std::vector m_nonowningFollowers; std::vector> m_owningFollowers; + hal::SimDevice m_simDevice; + hal::SimDouble m_simSpeed; + + bool m_eliminateDeadband{0}; + units::microsecond_t m_minPwm{0}; + units::microsecond_t m_deadbandMinPwm{0}; + units::microsecond_t m_centerPwm{0}; + units::microsecond_t m_deadbandMaxPwm{0}; + units::microsecond_t m_maxPwm{0}; + + units::microsecond_t GetMinPositivePwm() const; + units::microsecond_t GetMaxNegativePwm() const; + units::microsecond_t GetPositiveScaleFactor() const; + units::microsecond_t GetNegativeScaleFactor() const; + PWM* GetPwm() { return &m_pwm; } }; diff --git a/wpilibc/src/main/native/include/frc/simulation/PWMMotorControllerSim.h b/wpilibc/src/main/native/include/frc/simulation/PWMMotorControllerSim.h new file mode 100644 index 0000000000..e5f43abf94 --- /dev/null +++ b/wpilibc/src/main/native/include/frc/simulation/PWMMotorControllerSim.h @@ -0,0 +1,30 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#pragma once + +#include +#include + +#include "frc/motorcontrol/PWMMotorController.h" + +namespace frc { + +class PWMMotorController; + +namespace sim { + +class PWMMotorControllerSim { + public: + explicit PWMMotorControllerSim(const PWMMotorController& motorctrl); + + explicit PWMMotorControllerSim(int channel); + + double GetSpeed() const; + + private: + hal::SimDouble m_simSpeed; +}; +} // namespace sim +} // namespace frc diff --git a/wpilibc/src/main/native/include/frc/simulation/PWMSim.h b/wpilibc/src/main/native/include/frc/simulation/PWMSim.h index 424b797900..2c1bbc7fc8 100644 --- a/wpilibc/src/main/native/include/frc/simulation/PWMSim.h +++ b/wpilibc/src/main/native/include/frc/simulation/PWMSim.h @@ -27,13 +27,6 @@ class PWMSim { */ explicit PWMSim(const PWM& pwm); - /** - * Constructs from a PWMMotorController object. - * - * @param motorctrl PWMMotorController to simulate - */ - explicit PWMSim(const PWMMotorController& motorctrl); - /** * Constructs from a PWM channel number. * @@ -91,56 +84,6 @@ class PWMSim { */ void SetPulseMicrosecond(int32_t microsecondPulseTime); - /** - * Register a callback to be run when the PWM speed changes. - * - * @param callback the callback - * @param initialNotify whether to run the callback with the initial value - * @return the CallbackStore object associated with this callback - */ - [[nodiscard]] - std::unique_ptr RegisterSpeedCallback(NotifyCallback callback, - bool initialNotify); - - /** - * Get the PWM speed. - * - * @return the PWM speed (-1.0 to 1.0) - */ - double GetSpeed() const; - - /** - * Set the PWM speed. - * - * @param speed the PWM speed (-1.0 to 1.0) - */ - void SetSpeed(double speed); - - /** - * Register a callback to be run when the PWM position changes. - * - * @param callback the callback - * @param initialNotify whether to run the callback with the initial value - * @return the CallbackStore object associated with this callback - */ - [[nodiscard]] - std::unique_ptr RegisterPositionCallback( - NotifyCallback callback, bool initialNotify); - - /** - * Get the PWM position. - * - * @return the PWM position (0.0 to 1.0) - */ - double GetPosition() const; - - /** - * Set the PWM position. - * - * @param position the PWM position (0.0 to 1.0) - */ - void SetPosition(double position); - /** * Register a callback to be run when the PWM period scale changes. * @@ -149,7 +92,7 @@ class PWMSim { * @return the CallbackStore object associated with this callback */ [[nodiscard]] - std::unique_ptr RegisterPeriodScaleCallback( + std::unique_ptr RegisterOutputPeriodCallback( NotifyCallback callback, bool initialNotify); /** @@ -157,39 +100,14 @@ class PWMSim { * * @return the PWM period scale */ - int GetPeriodScale() const; + int GetOutputPeriod() const; /** * Set the PWM period scale. * - * @param periodScale the PWM period scale + * @param period the PWM period scale */ - void SetPeriodScale(int periodScale); - - /** - * Register a callback to be run when the PWM zero latch state changes. - * - * @param callback the callback - * @param initialNotify whether to run the callback with the initial state - * @return the CallbackStore object associated with this callback - */ - [[nodiscard]] - std::unique_ptr RegisterZeroLatchCallback( - NotifyCallback callback, bool initialNotify); - - /** - * Check whether the PWM is zero latched. - * - * @return true if zero latched - */ - bool GetZeroLatch() const; - - /** - * Define whether the PWM has been zero latched. - * - * @param zeroLatch true to indicate zero latched - */ - void SetZeroLatch(bool zeroLatch); + void SetOutputPeriod(int period); /** * Reset all simulation data. diff --git a/wpilibc/src/main/native/include/frc/simulation/ServoSim.h b/wpilibc/src/main/native/include/frc/simulation/ServoSim.h new file mode 100644 index 0000000000..15c3c07de0 --- /dev/null +++ b/wpilibc/src/main/native/include/frc/simulation/ServoSim.h @@ -0,0 +1,31 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#pragma once + +#include +#include + +#include "frc/Servo.h" + +namespace frc { + +class Servo; + +namespace sim { +class ServoSim { + public: + explicit ServoSim(const Servo& servo); + + explicit ServoSim(int channel); + + double GetPosition() const; + + double GetAngle() const; + + private: + hal::SimDouble m_simPosition; +}; +} // namespace sim +} // namespace frc diff --git a/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp new file mode 100644 index 0000000000..a251d92bac --- /dev/null +++ b/wpilibc/src/test/native/cpp/simulation/PWMMotorControlllerSimTest.cpp @@ -0,0 +1,26 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#include "frc/simulation/PWMMotorControllerSim.h" // NOLINT(build/include_order) + +#include +#include + +#include "frc/motorcontrol/Spark.h" + +namespace frc::sim { +TEST(PWMMotorControllerSimTest, TestMotor) { + frc::Spark spark{0}; + frc::sim::PWMMotorControllerSim sim{spark}; + + spark.Set(0); + EXPECT_EQ(0, sim.GetSpeed()); + + spark.Set(0.354); + EXPECT_EQ(0.354, sim.GetSpeed()); + + spark.Set(-0.785); + EXPECT_EQ(-0.785, sim.GetSpeed()); +} +} // namespace frc::sim diff --git a/wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp index 4dcdbb1fa2..0d392ab78b 100644 --- a/wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp +++ b/wpilibc/src/test/native/cpp/simulation/PWMSimTest.cpp @@ -12,8 +12,6 @@ namespace frc::sim { -constexpr double kPWMStepSize = 1.0 / 2000.0; - TEST(PWMSimTest, Initialize) { HAL_Initialize(500, 0); @@ -46,115 +44,7 @@ TEST(PWMSimTest, SetPulseTime) { EXPECT_EQ(2290, callback.GetLastValue()); } -TEST(PWMSimTest, SetSpeed) { - HAL_Initialize(500, 0); - - PWMSim sim{0}; - sim.ResetData(); - EXPECT_FALSE(sim.GetInitialized()); - - DoubleCallback callback; - - auto cb = sim.RegisterSpeedCallback(callback.GetCallback(), false); - PWM pwm{0}; - double kTestValue = 0.3504; - pwm.SetSpeed(kTestValue); - - EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize); - EXPECT_TRUE(callback.WasTriggered()); - EXPECT_NEAR(kTestValue, callback.GetLastValue(), kPWMStepSize); - EXPECT_NEAR(kTestValue / 2 + 0.5, sim.GetPosition(), kPWMStepSize * 2); - EXPECT_NEAR(kTestValue / 2 + 0.5, pwm.GetPosition(), kPWMStepSize * 2); - - kTestValue = -1.0; - pwm.SetSpeed(kTestValue); - - EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(0.0, sim.GetPosition(), kPWMStepSize); - EXPECT_NEAR(0.0, pwm.GetPosition(), kPWMStepSize); - - kTestValue = 0.0; - pwm.SetSpeed(kTestValue); - - EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(0.5, sim.GetPosition(), kPWMStepSize); - EXPECT_NEAR(0.5, pwm.GetPosition(), kPWMStepSize); - - kTestValue = 1.0; - pwm.SetSpeed(kTestValue); - - EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(kTestValue, sim.GetPosition(), kPWMStepSize); - EXPECT_NEAR(kTestValue, pwm.GetPosition(), kPWMStepSize); - - kTestValue = 1.1; - pwm.SetSpeed(kTestValue); - - EXPECT_NEAR(1.0, sim.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(1.0, pwm.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(1.0, sim.GetPosition(), kPWMStepSize); - EXPECT_NEAR(1.0, pwm.GetPosition(), kPWMStepSize); -} - -TEST(PWMSimTest, SetPosition) { - HAL_Initialize(500, 0); - - PWMSim sim{0}; - sim.ResetData(); - EXPECT_FALSE(sim.GetInitialized()); - - DoubleCallback callback; - - auto cb = sim.RegisterPositionCallback(callback.GetCallback(), false); - PWM pwm{0}; - double kTestValue = 0.3504; - pwm.SetPosition(kTestValue); - - EXPECT_NEAR(kTestValue, sim.GetPosition(), kPWMStepSize); - EXPECT_NEAR(kTestValue, pwm.GetPosition(), kPWMStepSize); - EXPECT_TRUE(callback.WasTriggered()); - EXPECT_NEAR(kTestValue, callback.GetLastValue(), kPWMStepSize); - EXPECT_NEAR(kTestValue * 2 - 1.0, sim.GetSpeed(), kPWMStepSize * 2); - EXPECT_NEAR(kTestValue * 2 - 1.0, pwm.GetSpeed(), kPWMStepSize * 2); - - kTestValue = -1.0; - pwm.SetPosition(kTestValue); - - EXPECT_NEAR(0.0, sim.GetPosition(), kPWMStepSize); - EXPECT_NEAR(0.0, pwm.GetPosition(), kPWMStepSize); - EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize); - - kTestValue = 0.0; - pwm.SetPosition(kTestValue); - - EXPECT_NEAR(kTestValue, sim.GetPosition(), kPWMStepSize); - EXPECT_NEAR(kTestValue, pwm.GetPosition(), kPWMStepSize); - EXPECT_NEAR(-1.0, sim.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(-1.0, pwm.GetSpeed(), kPWMStepSize); - - kTestValue = 1.0; - pwm.SetPosition(kTestValue); - - EXPECT_NEAR(kTestValue, sim.GetPosition(), kPWMStepSize); - EXPECT_NEAR(kTestValue, pwm.GetPosition(), kPWMStepSize); - EXPECT_NEAR(kTestValue, sim.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(kTestValue, pwm.GetSpeed(), kPWMStepSize); - - kTestValue = 1.1; - pwm.SetPosition(kTestValue); - - EXPECT_NEAR(1.0, sim.GetPosition(), kPWMStepSize); - EXPECT_NEAR(1.0, pwm.GetPosition(), kPWMStepSize); - EXPECT_NEAR(1.0, sim.GetSpeed(), kPWMStepSize); - EXPECT_NEAR(1.0, pwm.GetSpeed(), kPWMStepSize); -} - -TEST(PWMSimTest, SetPeriodScale) { +TEST(PWMSimTest, SetOutputPeriod) { HAL_Initialize(500, 0); PWMSim sim{0}; @@ -163,28 +53,12 @@ TEST(PWMSimTest, SetPeriodScale) { IntCallback callback; - auto cb = sim.RegisterPeriodScaleCallback(callback.GetCallback(), false); + auto cb = sim.RegisterOutputPeriodCallback(callback.GetCallback(), false); PWM pwm{0}; - sim.SetPeriodScale(3504); - EXPECT_EQ(3504, sim.GetPeriodScale()); + sim.SetOutputPeriod(3504); + EXPECT_EQ(3504, sim.GetOutputPeriod()); EXPECT_TRUE(callback.WasTriggered()); EXPECT_EQ(3504, callback.GetLastValue()); } -TEST(PWMSimTest, SetZeroLatch) { - HAL_Initialize(500, 0); - - PWMSim sim{0}; - sim.ResetData(); - EXPECT_FALSE(sim.GetInitialized()); - - BooleanCallback callback; - - auto cb = sim.RegisterZeroLatchCallback(callback.GetCallback(), false); - PWM pwm{0}; - pwm.SetZeroLatch(); - - EXPECT_TRUE(callback.WasTriggered()); -} - } // namespace frc::sim diff --git a/wpilibc/src/test/native/cpp/simulation/ServoSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/ServoSimTest.cpp new file mode 100644 index 0000000000..9018b58036 --- /dev/null +++ b/wpilibc/src/test/native/cpp/simulation/ServoSimTest.cpp @@ -0,0 +1,32 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +#include "frc/simulation/ServoSim.h" // NOLINT(build/include_order) + +#include +#include + +#include "frc/Servo.h" + +namespace frc::sim { +TEST(ServoSimTest, TestServo) { + frc::Servo servo{0}; + frc::sim::ServoSim sim{servo}; + + servo.Set(0); + EXPECT_EQ(0, sim.GetPosition()); + + servo.Set(0.354); + EXPECT_EQ(0.354, sim.GetPosition()); + + servo.SetAngle(10); + EXPECT_EQ(10, sim.GetAngle()); + + servo.SetAngle(90); + EXPECT_EQ(90, sim.GetAngle()); + + servo.SetAngle(170); + EXPECT_EQ(170, sim.GetAngle()); +} +} // namespace frc::sim diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.h b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.h index afc5267241..bb8d19111d 100644 --- a/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.h +++ b/wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.h @@ -11,7 +11,7 @@ #include #include #include -#include +#include #include #include #include @@ -50,7 +50,7 @@ class Elevator { frc::Encoder m_encoder{Constants::kEncoderAChannel, Constants::kEncoderBChannel}; frc::PWMSparkMax m_motor{Constants::kMotorPort}; - frc::sim::PWMSim m_motorSim{m_motor}; + frc::sim::PWMMotorControllerSim m_motorSim{m_motor}; // Simulation classes help us simulate what's going on, including gravity. frc::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox, diff --git a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h index 4b07189442..d732559a6c 100644 --- a/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h +++ b/wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h @@ -12,7 +12,7 @@ #include #include #include -#include +#include #include #include #include @@ -46,7 +46,7 @@ class Elevator { frc::Encoder m_encoder{Constants::kEncoderAChannel, Constants::kEncoderBChannel}; frc::PWMSparkMax m_motor{Constants::kMotorPort}; - frc::sim::PWMSim m_motorSim{m_motor}; + frc::sim::PWMMotorControllerSim m_motorSim{m_motor}; // Simulation classes help us simulate what's going on, including gravity. frc::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox, diff --git a/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c b/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c index b56b859245..1213c32ca7 100644 --- a/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c +++ b/wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c @@ -70,9 +70,6 @@ int main(void) { return 1; } - // Set PWM config to standard servo speeds - HAL_SetPWMConfigMicroseconds(pwmPort, 2000, 1501, 1500, 1499, 1000, &status); - // Create an Input status = 0; HAL_DigitalHandle dio = HAL_InitializeDIOPort(2, 1, NULL, &status); @@ -105,9 +102,9 @@ int main(void) { case TeleopMode: status = 0; if (HAL_GetDIO(dio, &status)) { - HAL_SetPWMSpeed(pwmPort, 1.0, &status); + HAL_SetPWMPulseTimeMicroseconds(pwmPort, 2000, &status); } else { - HAL_SetPWMSpeed(pwmPort, 0, &status); + HAL_SetPWMPulseTimeMicroseconds(pwmPort, 1500, &status); } break; case AutoMode: diff --git a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp index 13a2a2f1b9..711a83f866 100644 --- a/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp +++ b/wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp @@ -8,7 +8,7 @@ #include #include #include -#include +#include #include #include #include @@ -23,7 +23,7 @@ class ArmSimulationTest : public testing::TestWithParam { std::optional m_thread; protected: - frc::sim::PWMSim m_motorSim{kMotorPort}; + frc::sim::PWMMotorControllerSim m_motorSim{kMotorPort}; frc::sim::EncoderSim m_encoderSim = frc::sim::EncoderSim::CreateForChannel(kEncoderAChannel); frc::sim::JoystickSim m_joystickSim{kJoystickPort}; @@ -41,7 +41,6 @@ class ArmSimulationTest : public testing::TestWithParam { m_thread->join(); m_encoderSim.ResetData(); - m_motorSim.ResetData(); frc::sim::DriverStationSim::ResetData(); frc::Preferences::RemoveAll(); } @@ -61,7 +60,6 @@ TEST_P(ArmSimulationTest, Teleop) { frc::sim::DriverStationSim::SetEnabled(true); frc::sim::DriverStationSim::NotifyNewData(); - EXPECT_TRUE(m_motorSim.GetInitialized()); EXPECT_TRUE(m_encoderSim.GetInitialized()); } diff --git a/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp b/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp index 99876dd48b..b7bdeeb41a 100644 --- a/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp +++ b/wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp @@ -7,7 +7,7 @@ #include #include -#include +#include #include #include #include @@ -25,7 +25,7 @@ class ElevatorSimulationTest : public testing::Test { std::optional m_thread; protected: - frc::sim::PWMSim m_motorSim{Constants::kMotorPort}; + frc::sim::PWMMotorControllerSim m_motorSim{Constants::kMotorPort}; frc::sim::EncoderSim m_encoderSim = frc::sim::EncoderSim::CreateForChannel(Constants::kEncoderAChannel); frc::sim::JoystickSim m_joystickSim{Constants::kJoystickPort}; @@ -43,7 +43,6 @@ class ElevatorSimulationTest : public testing::Test { m_thread->join(); m_encoderSim.ResetData(); - m_motorSim.ResetData(); frc::sim::DriverStationSim::ResetData(); } }; @@ -55,7 +54,6 @@ TEST_F(ElevatorSimulationTest, Teleop) { frc::sim::DriverStationSim::SetEnabled(true); frc::sim::DriverStationSim::NotifyNewData(); - EXPECT_TRUE(m_motorSim.GetInitialized()); EXPECT_TRUE(m_encoderSim.GetInitialized()); } diff --git a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp index 417ba6418e..d081df266f 100644 --- a/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp +++ b/wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp @@ -10,7 +10,7 @@ #include #include #include -#include +#include #include #include #include @@ -39,7 +39,7 @@ class PotentiometerPIDTest : public testing::Test { Robot::kFullHeight, true, 0.0_m}; - frc::sim::PWMSim m_motorSim{Robot::kMotorChannel}; + frc::sim::PWMMotorControllerSim m_motorSim{Robot::kMotorChannel}; frc::sim::AnalogInputSim m_analogSim{Robot::kPotChannel}; frc::sim::JoystickSim m_joystickSim{Robot::kJoystickChannel}; int32_t m_callback; @@ -85,7 +85,6 @@ class PotentiometerPIDTest : public testing::Test { HALSIM_CancelSimPeriodicBeforeCallback(m_callback); m_analogSim.ResetData(); - m_motorSim.ResetData(); } }; @@ -96,7 +95,6 @@ TEST_F(PotentiometerPIDTest, Teleop) { frc::sim::DriverStationSim::SetEnabled(true); frc::sim::DriverStationSim::NotifyNewData(); - EXPECT_TRUE(m_motorSim.GetInitialized()); EXPECT_TRUE(m_analogSim.GetInitialized()); } diff --git a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp index 6b5650ae4b..f893e190d4 100644 --- a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp +++ b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp @@ -4,7 +4,7 @@ #include #include -#include +#include #include #include "Constants.h" @@ -13,7 +13,7 @@ class IntakeTest : public testing::Test { protected: Intake intake; // create our intake - frc::sim::PWMSim simMotor{ + frc::sim::PWMMotorControllerSim simMotor{ IntakeConstants::kMotorPort}; // create our simulation PWM frc::sim::DoubleSolenoidSim simPiston{ frc::PneumaticsModuleType::CTREPCM, IntakeConstants::kPistonFwdChannel, diff --git a/wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja b/wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja index 5535a92459..26d17682b8 100644 --- a/wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja +++ b/wpilibj/src/generate/main/java/pwm_motor_controller.java.jinja @@ -37,10 +37,9 @@ public class {{ name }} extends PWMMotorController { public {{ name }}(final int channel) { super("{{ name }}", channel); - m_pwm.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.setPeriodMultiplier(PWM.PeriodMultiplier.k{{ PeriodMultiplier | default("1", true)}}X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + 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); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "{{ ResourceName }}"); } diff --git a/wpilibj/src/generate/pwm_motor_controllers.json b/wpilibj/src/generate/pwm_motor_controllers.json index f03141c881..ee7433617e 100644 --- a/wpilibj/src/generate/pwm_motor_controllers.json +++ b/wpilibj/src/generate/pwm_motor_controllers.json @@ -147,7 +147,7 @@ "Manufacturer": "Vex Robotics", "DisplayName": "Victor 888", "ResourceName": "Victor", - "PeriodMultiplier": 2, + "OutputPeriod": 10, "pulse_width_ms": { "max": 2.027, "deadbandMax": 1.525, @@ -174,7 +174,7 @@ "Manufacturer": "AndyMark", "DisplayName": "Koors40", "ResourceName": "Koors40", - "PeriodMultiplier": 4, + "OutputPeriod": 20, "pulse_width_ms": { "max": 2.004, "deadbandMax": 1.520, diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java index e0e98bffef..d105848017 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/DMC60.java @@ -37,10 +37,9 @@ public class DMC60 extends PWMMotorController { public DMC60(final int channel) { super("DMC60", channel); - m_pwm.setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "DigilentDMC60"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java index a75511e6b9..48b5fc50f7 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Jaguar.java @@ -37,10 +37,9 @@ public class Jaguar extends PWMMotorController { public Jaguar(final int channel) { super("Jaguar", channel); - m_pwm.setBoundsMicroseconds(2310, 1550, 1507, 1454, 697); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2310, 1550, 1507, 1454, 697); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "Jaguar"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Koors40.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Koors40.java index 3ee0960328..245c9b1ed5 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Koors40.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Koors40.java @@ -37,10 +37,9 @@ public class Koors40 extends PWMMotorController { public Koors40(final int channel) { super("Koors40", channel); - m_pwm.setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k4X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k20Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "Koors40"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkFlex.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkFlex.java index a601ee95f3..d6d043aafe 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkFlex.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkFlex.java @@ -37,10 +37,9 @@ public class PWMSparkFlex extends PWMMotorController { public PWMSparkFlex(final int channel) { super("PWMSparkFlex", channel); - m_pwm.setBoundsMicroseconds(2003, 1550, 1500, 1460, 999); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2003, 1550, 1500, 1460, 999); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "RevSparkFlexPWM"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkMax.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkMax.java index 164554a4a5..e72d3a9cdf 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkMax.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMSparkMax.java @@ -37,10 +37,9 @@ public class PWMSparkMax extends PWMMotorController { public PWMSparkMax(final int channel) { super("PWMSparkMax", channel); - m_pwm.setBoundsMicroseconds(2003, 1550, 1500, 1460, 999); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2003, 1550, 1500, 1460, 999); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "RevSparkMaxPWM"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonFX.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonFX.java index 9f55ee30fe..f3c280f663 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonFX.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonFX.java @@ -37,10 +37,9 @@ public class PWMTalonFX extends PWMMotorController { public PWMTalonFX(final int channel) { super("PWMTalonFX", channel); - m_pwm.setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "TalonFX"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonSRX.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonSRX.java index a6e1cb111f..393d1e6ec0 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonSRX.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMTalonSRX.java @@ -37,10 +37,9 @@ public class PWMTalonSRX extends PWMMotorController { public PWMTalonSRX(final int channel) { super("PWMTalonSRX", channel); - m_pwm.setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "PWMTalonSRX"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVenom.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVenom.java index 9fa7264a7d..2ff8875981 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVenom.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVenom.java @@ -37,10 +37,9 @@ public class PWMVenom extends PWMMotorController { public PWMVenom(final int channel) { super("PWMVenom", channel); - m_pwm.setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "FusionVenom"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVictorSPX.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVictorSPX.java index 9dd3f2f23c..1fd95f5403 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVictorSPX.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMVictorSPX.java @@ -37,10 +37,9 @@ public class PWMVictorSPX extends PWMMotorController { public PWMVictorSPX(final int channel) { super("PWMVictorSPX", channel); - m_pwm.setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "PWMVictorSPX"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java index 8358ccc95e..927edfd46f 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SD540.java @@ -37,10 +37,9 @@ public class SD540 extends PWMMotorController { public SD540(final int channel) { super("SD540", channel); - m_pwm.setBoundsMicroseconds(2050, 1550, 1500, 1440, 940); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2050, 1550, 1500, 1440, 940); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "MindsensorsSD540"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Spark.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Spark.java index b286aa6ad6..350383a524 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Spark.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Spark.java @@ -37,10 +37,9 @@ public class Spark extends PWMMotorController { public Spark(final int channel) { super("Spark", channel); - m_pwm.setBoundsMicroseconds(2003, 1550, 1500, 1460, 999); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2003, 1550, 1500, 1460, 999); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "RevSPARK"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SparkMini.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SparkMini.java index 5c0c71e98e..bcba92871c 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SparkMini.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/SparkMini.java @@ -37,10 +37,9 @@ public class SparkMini extends PWMMotorController { public SparkMini(final int channel) { super("SparkMini", channel); - m_pwm.setBoundsMicroseconds(2500, 1510, 1500, 1490, 500); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2500, 1510, 1500, 1490, 500); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "RevSPARK"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Talon.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Talon.java index 63df9d3d6c..7e73c17352 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Talon.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Talon.java @@ -37,10 +37,9 @@ public class Talon extends PWMMotorController { public Talon(final int channel) { super("Talon", channel); - m_pwm.setBoundsMicroseconds(2037, 1539, 1513, 1487, 989); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2037, 1539, 1513, 1487, 989); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "Talon"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java index 96e3ac3b37..3e9911982c 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/Victor.java @@ -37,10 +37,9 @@ public class Victor extends PWMMotorController { public Victor(final int channel) { super("Victor", channel); - m_pwm.setBoundsMicroseconds(2027, 1525, 1507, 1490, 1026); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k2X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2027, 1525, 1507, 1490, 1026); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k10Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "Victor"); } diff --git a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/VictorSP.java b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/VictorSP.java index 7c1a41fb77..4123ea84ef 100644 --- a/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/VictorSP.java +++ b/wpilibj/src/generated/main/java/edu/wpi/first/wpilibj/motorcontrol/VictorSP.java @@ -37,10 +37,9 @@ public class VictorSP extends PWMMotorController { public VictorSP(final int channel) { super("VictorSP", channel); - m_pwm.setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); - m_pwm.setPeriodMultiplier(PWM.PeriodMultiplier.k1X); - m_pwm.setSpeed(0.0); - m_pwm.setZeroLatch(); + setBoundsMicroseconds(2004, 1520, 1500, 1480, 997); + m_pwm.setOutputPeriod(PWM.OutputPeriod.k5Ms); + setSpeed(0.0); HAL.reportUsage("IO", getChannel(), "VictorSP"); } diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java index d6f0e128f2..20550ed930 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/PWM.java @@ -5,8 +5,8 @@ package edu.wpi.first.wpilibj; import edu.wpi.first.hal.HAL; -import edu.wpi.first.hal.PWMConfigDataResult; import edu.wpi.first.hal.PWMJNI; +import edu.wpi.first.hal.SimDevice; import edu.wpi.first.util.sendable.Sendable; import edu.wpi.first.util.sendable.SendableBuilder; import edu.wpi.first.util.sendable.SendableRegistry; @@ -19,14 +19,14 @@ import edu.wpi.first.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 amount to multiply the minimum servo-pulse pwm period by. */ - public enum PeriodMultiplier { - /** Period Multiplier: don't skip pulses. PWM pulses occur every 5.05 ms */ - k1X, - /** Period Multiplier: skip every other pulse. PWM pulses occur every 10.10 ms */ - k2X, - /** Period Multiplier: skip three out of four pulses. PWM pulses occur every 20.20 ms */ - k4X + /** 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; @@ -62,8 +62,6 @@ public class PWM implements Sendable, AutoCloseable { setDisabled(); - PWMJNI.setPWMEliminateDeadband(m_handle, false); - HAL.reportUsage("IO", channel, "PWM"); if (registerSendable) { SendableRegistry.add(this, "PWM", channel); @@ -82,44 +80,6 @@ public class PWM implements Sendable, AutoCloseable { m_handle = 0; } - /** - * Optionally eliminate the deadband from a motor controller. - * - * @param eliminateDeadband If true, set the motor curve for the motor controller to eliminate the - * deadband in the middle of the range. Otherwise, keep the full range without modifying any - * values. - */ - public void enableDeadbandElimination(boolean eliminateDeadband) { - PWMJNI.setPWMEliminateDeadband(m_handle, eliminateDeadband); - } - - /** - * Set the bounds on the PWM pulse widths. This sets the bounds on the PWM values for a particular - * type of controller. The values determine the upper and lower speeds as well as the deadband - * bracket. - * - * @param max The max PWM pulse width in us - * @param deadbandMax The high end of the deadband range pulse width in us - * @param center The center (off) pulse width in us - * @param deadbandMin The low end of the deadband pulse width in us - * @param min The minimum pulse width in us - */ - public void setBoundsMicroseconds( - int max, int deadbandMax, int center, int deadbandMin, int min) { - PWMJNI.setPWMConfigMicroseconds(m_handle, max, deadbandMax, center, deadbandMin, min); - } - - /** - * Gets the bounds on the PWM pulse widths. This gets the bounds on the PWM values for a - * particular type of controller. The values determine the upper and lower speeds as well as the - * deadband bracket. - * - * @return The bounds on the PWM pulse widths. - */ - public PWMConfigDataResult getBoundsMicroseconds() { - return PWMJNI.getPWMConfigMicroseconds(m_handle); - } - /** * Gets the channel number associated with the PWM Object. * @@ -129,54 +89,6 @@ public class PWM implements Sendable, AutoCloseable { return m_channel; } - /** - * Set the PWM value based on a position. - * - *

This is intended to be used by servos. - * - * @param pos The position to set the servo between 0.0 and 1.0. - * @pre setBoundsMicroseconds() called. - */ - public void setPosition(double pos) { - PWMJNI.setPWMPosition(m_handle, pos); - } - - /** - * Get the PWM value in terms of a position. - * - *

This is intended to be used by servos. - * - * @return The position the servo is set to between 0.0 and 1.0. - * @pre setBoundsMicroseconds() called. - */ - public double getPosition() { - return PWMJNI.getPWMPosition(m_handle); - } - - /** - * Set the PWM value based on a speed. - * - *

This is intended to be used by motor controllers. - * - * @param speed The speed to set the motor controller between -1.0 and 1.0. - * @pre setBoundsMicroseconds() called. - */ - public void setSpeed(double speed) { - PWMJNI.setPWMSpeed(m_handle, speed); - } - - /** - * Get the PWM value in terms of speed. - * - *

This is intended to be used by motor controllers. - * - * @return The most recently set speed between -1.0 and 1.0. - * @pre setBoundsMicroseconds() called. - */ - public double getSpeed() { - return PWMJNI.getPWMSpeed(m_handle); - } - /** * Set the PWM value directly to the hardware. * @@ -201,33 +113,23 @@ public class PWM implements Sendable, AutoCloseable { /** Temporarily disables the PWM output. The next set call will re-enable the output. */ public final void setDisabled() { - PWMJNI.setPWMDisabled(m_handle); + setPulseTimeMicroseconds(0); } /** - * Slow down the PWM signal for old devices. + * Sets the PWM output period. * - * @param mult The period multiplier to apply to this channel + * @param mult The output period to apply to this channel */ - public void setPeriodMultiplier(PeriodMultiplier mult) { + public void setOutputPeriod(OutputPeriod mult) { int scale = switch (mult) { - case k4X -> 3; // Squelch 3 out of 4 outputs - case k2X -> 1; // Squelch 1 out of 2 outputs - case k1X -> 0; // Don't squelch any outputs + case k20Ms -> 3; + case k10Ms -> 1; + case k5Ms -> 0; }; - PWMJNI.setPWMPeriodScale(m_handle, scale); - } - - /** Latches PWM to zero. */ - public void setZeroLatch() { - PWMJNI.latchPWMZero(m_handle); - } - - /** Sets the PWM output to be a continuous high signal while enabled. */ - public void setAlwaysHighMode() { - PWMJNI.setAlwaysHighMode(m_handle); + PWMJNI.setPWMOutputPeriod(m_handle, scale); } /** @@ -239,13 +141,20 @@ public class PWM implements Sendable, AutoCloseable { return m_handle; } + /** + * Indicates this input is used by a simulated device. + * + * @param device simulated device handle + */ + public void setSimDevice(SimDevice device) { + PWMJNI.setPWMSimDevice(m_handle, device.getNativeHandle()); + } + @Override public void initSendable(SendableBuilder builder) { builder.setSmartDashboardType("PWM"); builder.setActuator(true); builder.addDoubleProperty( "Value", this::getPulseTimeMicroseconds, value -> setPulseTimeMicroseconds((int) value)); - builder.addDoubleProperty("Speed", this::getSpeed, this::setSpeed); - builder.addDoubleProperty("Position", this::getPosition, this::setPosition); } } diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java index 021f19c06d..4ad3d42f0a 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/Servo.java @@ -5,8 +5,14 @@ package edu.wpi.first.wpilibj; import edu.wpi.first.hal.HAL; +import edu.wpi.first.hal.SimDevice; +import edu.wpi.first.hal.SimDevice.Direction; +import edu.wpi.first.hal.SimDouble; +import edu.wpi.first.math.MathUtil; +import edu.wpi.first.util.sendable.Sendable; import edu.wpi.first.util.sendable.SendableBuilder; import edu.wpi.first.util.sendable.SendableRegistry; +import edu.wpi.first.wpilibj.PWM.OutputPeriod; /** * Standard hobby style servo. @@ -14,13 +20,21 @@ import edu.wpi.first.util.sendable.SendableRegistry; *

The range parameters default to the appropriate values for the Hitec HS-322HD servo provided * in the FIRST Kit of Parts in 2008. */ -public class Servo extends PWM { +public class Servo implements Sendable, AutoCloseable { private static final double kMaxServoAngle = 180.0; private static final double kMinServoAngle = 0.0; private static final int kDefaultMaxServoPWM = 2400; private static final int kDefaultMinServoPWM = 600; + private final PWM m_pwm; + + private SimDevice m_simDevice; + private SimDouble m_simPosition; + + private static final int m_minPwm = kDefaultMinServoPWM; + private static final int m_maxPwm = kDefaultMaxServoPWM; + /** * Constructor. * @@ -32,12 +46,31 @@ public class Servo extends PWM { */ @SuppressWarnings("this-escape") public Servo(final int channel) { - super(channel); - setBoundsMicroseconds(kDefaultMaxServoPWM, 0, 0, 0, kDefaultMinServoPWM); - setPeriodMultiplier(PeriodMultiplier.k4X); + m_pwm = new PWM(channel, false); + SendableRegistry.add(this, "Servo", channel); - HAL.reportUsage("IO", getChannel(), "Servo"); - SendableRegistry.setName(this, "Servo", getChannel()); + m_pwm.setOutputPeriod(OutputPeriod.k20Ms); + + HAL.reportUsage("IO", channel, "Servo"); + + m_simDevice = SimDevice.create("Servo", channel); + if (m_simDevice != null) { + m_simPosition = m_simDevice.createDouble("Position", Direction.kOutput, 0.0); + m_pwm.setSimDevice(m_simDevice); + } + } + + /** Free the resource associated with the PWM channel and set the value to 0. */ + @Override + public void close() { + SendableRegistry.remove(this); + m_pwm.close(); + + if (m_simDevice != null) { + m_simDevice.close(); + m_simDevice = null; + m_simPosition = null; + } } /** @@ -48,7 +81,15 @@ public class Servo extends PWM { * @param value Position from 0.0 to 1.0. */ public void set(double value) { - setPosition(value); + value = MathUtil.clamp(value, 0.0, 1.0); + + if (m_simPosition != null) { + m_simPosition.set(value); + } + + int rawValue = (int) ((value * getFullRangeScaleFactor()) + m_minPwm); + + m_pwm.setPulseTimeMicroseconds(rawValue); } /** @@ -61,7 +102,14 @@ public class Servo extends PWM { * @return Position from 0.0 to 1.0. */ public double get() { - return getPosition(); + int rawValue = m_pwm.getPulseTimeMicroseconds(); + + if (rawValue < m_minPwm) { + return 0.0; + } else if (rawValue > m_maxPwm) { + return 1.0; + } + return (rawValue - m_minPwm) / getFullRangeScaleFactor(); } /** @@ -83,7 +131,7 @@ public class Servo extends PWM { degrees = kMaxServoAngle; } - setPosition((degrees - kMinServoAngle) / getServoAngleRange()); + set((degrees - kMinServoAngle) / getServoAngleRange()); } /** @@ -95,7 +143,29 @@ public class Servo extends PWM { * @return The angle in degrees to which the servo is set. */ public double getAngle() { - return getPosition() * getServoAngleRange() + kMinServoAngle; + return get() * getServoAngleRange() + kMinServoAngle; + } + + /** + * Gets the backing PWM handle. + * + * @return The pwm handle. + */ + public int getPwmHandle() { + return m_pwm.getHandle(); + } + + /** + * Gets the PWM channel number. + * + * @return The channel number. + */ + public int getChannel() { + return m_pwm.getChannel(); + } + + private double getFullRangeScaleFactor() { + return m_maxPwm - m_minPwm; } private double getServoAngleRange() { diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java index 6ebd8f9c86..02e610cb9f 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/motorcontrol/PWMMotorController.java @@ -4,6 +4,10 @@ package edu.wpi.first.wpilibj.motorcontrol; +import edu.wpi.first.hal.SimDevice; +import edu.wpi.first.hal.SimDevice.Direction; +import edu.wpi.first.hal.SimDouble; +import edu.wpi.first.math.MathUtil; import edu.wpi.first.util.sendable.Sendable; import edu.wpi.first.util.sendable.SendableBuilder; import edu.wpi.first.util.sendable.SendableRegistry; @@ -22,6 +26,16 @@ public abstract class PWMMotorController extends MotorSafety /** PWM instances for motor controller. */ protected PWM m_pwm; + private SimDevice m_simDevice; + private SimDouble m_simSpeed; + + private boolean m_eliminateDeadband; + private int m_minPwm; + private int m_deadbandMinPwm; + private int m_centerPwm; + private int m_deadbandMaxPwm; + private int m_maxPwm; + /** * Constructor. * @@ -33,6 +47,12 @@ public abstract class PWMMotorController extends MotorSafety protected PWMMotorController(final String name, final int channel) { m_pwm = new PWM(channel, false); SendableRegistry.add(this, name, channel); + + m_simDevice = SimDevice.create("PWMMotorController", channel); + if (m_simDevice != null) { + m_simSpeed = m_simDevice.createDouble("Speed", Direction.kOutput, 0.0); + m_pwm.setSimDevice(m_simDevice); + } } /** Free the resource associated with the PWM channel and set the value to 0. */ @@ -40,6 +60,105 @@ public abstract class PWMMotorController extends MotorSafety public void close() { SendableRegistry.remove(this); m_pwm.close(); + + if (m_simDevice != null) { + m_simDevice.close(); + m_simDevice = null; + m_simSpeed = null; + } + } + + private int getMinPositivePwm() { + if (m_eliminateDeadband) { + return m_deadbandMaxPwm; + } else { + return m_centerPwm + 1; + } + } + + private int getMaxNegativePwm() { + if (m_eliminateDeadband) { + return m_deadbandMinPwm; + } else { + return m_centerPwm - 1; + } + } + + private int getPositiveScaleFactor() { + return m_maxPwm - getMinPositivePwm(); + } + + private int getNegativeScaleFactor() { + return getMaxNegativePwm() - m_minPwm; + } + + /** + * Takes a speed from -1 to 1, and outputs it in the microsecond format. + * + * @param speed the speed to output + */ + protected final void setSpeed(double speed) { + if (Double.isFinite(speed)) { + speed = MathUtil.clamp(speed, -1.0, 1.0); + } else { + speed = 0.0; + } + + if (m_simSpeed != null) { + m_simSpeed.set(speed); + } + + int rawValue; + if (speed == 0.0) { + rawValue = m_centerPwm; + } else if (speed > 0.0) { + rawValue = (int) Math.round(speed * getPositiveScaleFactor()) + getMinPositivePwm(); + } else { + rawValue = (int) Math.round(speed * getNegativeScaleFactor()) + getMaxNegativePwm(); + } + + m_pwm.setPulseTimeMicroseconds(rawValue); + } + + /** + * Gets the speed from -1 to 1, from the currently set pulse time. + * + * @return motor controller speed + */ + protected final double getSpeed() { + int rawValue = m_pwm.getPulseTimeMicroseconds(); + + if (rawValue == 0) { + return 0.0; + } else if (rawValue > m_maxPwm) { + return 1.0; + } else if (rawValue < m_minPwm) { + return -1.0; + } else if (rawValue > getMinPositivePwm()) { + return (rawValue - getMinPositivePwm()) / (double) getPositiveScaleFactor(); + } else if (rawValue < getMaxNegativePwm()) { + return (rawValue - getMaxNegativePwm()) / (double) getNegativeScaleFactor(); + } else { + return 0.0; + } + } + + /** + * Sets the bounds in microseconds for the controller. + * + * @param maxPwm maximum + * @param deadbandMaxPwm deadband max + * @param centerPwm center + * @param deadbandMinPwm deadmand min + * @param minPwm minimum + */ + protected final void setBoundsMicroseconds( + int maxPwm, int deadbandMaxPwm, int centerPwm, int deadbandMinPwm, int minPwm) { + m_maxPwm = maxPwm; + m_deadbandMaxPwm = deadbandMaxPwm; + m_centerPwm = centerPwm; + m_deadbandMinPwm = deadbandMinPwm; + m_minPwm = minPwm; } /** @@ -55,7 +174,7 @@ public abstract class PWMMotorController extends MotorSafety if (m_isInverted) { speed = -speed; } - m_pwm.setSpeed(speed); + setSpeed(speed); for (var follower : m_followers) { follower.set(speed); @@ -65,15 +184,13 @@ public abstract class PWMMotorController extends MotorSafety } /** - * Get the recently set value of the PWM. This value is affected by the inversion property. If you - * want the value that is sent directly to the MotorController, use {@link - * edu.wpi.first.wpilibj.PWM#getSpeed()} instead. + * Get the recently set value of the PWM. This value is affected by the inversion property. * * @return The most recently set value for the PWM between -1.0 and 1.0. */ @Override public double get() { - return m_pwm.getSpeed() * (m_isInverted ? -1.0 : 1.0); + return getSpeed() * (m_isInverted ? -1.0 : 1.0); } /** @@ -99,6 +216,10 @@ public abstract class PWMMotorController extends MotorSafety public void disable() { m_pwm.setDisabled(); + if (m_simSpeed != null) { + m_simSpeed.set(0.0); + } + for (var follower : m_followers) { follower.disable(); } @@ -107,7 +228,7 @@ public abstract class PWMMotorController extends MotorSafety @Override public void stopMotor() { // Don't use set(0) as that will feed the watch kitty - m_pwm.setSpeed(0); + m_pwm.setPulseTimeMicroseconds(0); for (var follower : m_followers) { follower.stopMotor(); @@ -145,7 +266,7 @@ public abstract class PWMMotorController extends MotorSafety * values. */ public void enableDeadbandElimination(boolean eliminateDeadband) { - m_pwm.enableDeadbandElimination(eliminateDeadband); + m_eliminateDeadband = eliminateDeadband; } /** diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMMotorControllerSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMMotorControllerSim.java new file mode 100644 index 0000000000..648e1c6095 --- /dev/null +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMMotorControllerSim.java @@ -0,0 +1,41 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package edu.wpi.first.wpilibj.simulation; + +import edu.wpi.first.hal.SimDouble; +import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController; + +/** Class to control a simulated PWM motor controller. */ +public class PWMMotorControllerSim { + private final SimDouble m_simSpeed; + + /** + * Constructor. + * + * @param motorctrl The device to simulate + */ + public PWMMotorControllerSim(PWMMotorController motorctrl) { + this(motorctrl.getChannel()); + } + + /** + * Constructor. + * + * @param channel The channel the motor controller is attached to. + */ + public PWMMotorControllerSim(int channel) { + SimDeviceSim simDevice = new SimDeviceSim("PWMMotorController", channel); + m_simSpeed = simDevice.getDouble("Speed"); + } + + /** + * Gets the motor speed set. + * + * @return Speed + */ + public double getSpeed() { + return m_simSpeed.get(); + } +} diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java index a415c80d92..13c9dedd62 100644 --- a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/PWMSim.java @@ -7,7 +7,6 @@ package edu.wpi.first.wpilibj.simulation; import edu.wpi.first.hal.simulation.NotifyCallback; import edu.wpi.first.hal.simulation.PWMDataJNI; import edu.wpi.first.wpilibj.PWM; -import edu.wpi.first.wpilibj.motorcontrol.PWMMotorController; /** Class to control a simulated PWM output. */ public class PWMSim { @@ -22,15 +21,6 @@ public class PWMSim { m_index = pwm.getChannel(); } - /** - * Constructs from a PWMMotorController object. - * - * @param motorctrl PWMMotorController to simulate - */ - public PWMSim(PWMMotorController motorctrl) { - m_index = motorctrl.getChannel(); - } - /** * Constructs from a PWM channel number. * @@ -101,66 +91,6 @@ public class PWMSim { PWMDataJNI.setPulseMicrosecond(m_index, microsecondPulseTime); } - /** - * Register a callback to be run when the PWM speed changes. - * - * @param callback the callback - * @param initialNotify whether to run the callback with the initial value - * @return the {@link CallbackStore} object associated with this callback. - */ - public CallbackStore registerSpeedCallback(NotifyCallback callback, boolean initialNotify) { - int uid = PWMDataJNI.registerSpeedCallback(m_index, callback, initialNotify); - return new CallbackStore(m_index, uid, PWMDataJNI::cancelSpeedCallback); - } - - /** - * Get the PWM speed. - * - * @return the PWM speed (-1.0 to 1.0) - */ - public double getSpeed() { - return PWMDataJNI.getSpeed(m_index); - } - - /** - * Set the PWM speed. - * - * @param speed the PWM speed (-1.0 to 1.0) - */ - public void setSpeed(double speed) { - PWMDataJNI.setSpeed(m_index, speed); - } - - /** - * Register a callback to be run when the PWM position changes. - * - * @param callback the callback - * @param initialNotify whether to run the callback with the initial value - * @return the {@link CallbackStore} object associated with this callback. - */ - public CallbackStore registerPositionCallback(NotifyCallback callback, boolean initialNotify) { - int uid = PWMDataJNI.registerPositionCallback(m_index, callback, initialNotify); - return new CallbackStore(m_index, uid, PWMDataJNI::cancelPositionCallback); - } - - /** - * Get the PWM position. - * - * @return the PWM position (0.0 to 1.0) - */ - public double getPosition() { - return PWMDataJNI.getPosition(m_index); - } - - /** - * Set the PWM position. - * - * @param position the PWM position (0.0 to 1.0) - */ - public void setPosition(double position) { - PWMDataJNI.setPosition(m_index, position); - } - /** * Register a callback to be run when the PWM period scale changes. * @@ -168,9 +98,10 @@ public class PWMSim { * @param initialNotify whether to run the callback with the initial value * @return the {@link CallbackStore} object associated with this callback. */ - public CallbackStore registerPeriodScaleCallback(NotifyCallback callback, boolean initialNotify) { - int uid = PWMDataJNI.registerPeriodScaleCallback(m_index, callback, initialNotify); - return new CallbackStore(m_index, uid, PWMDataJNI::cancelPeriodScaleCallback); + public CallbackStore registerOutputPeriodCallback( + NotifyCallback callback, boolean initialNotify) { + int uid = PWMDataJNI.registerOutputPeriodCallback(m_index, callback, initialNotify); + return new CallbackStore(m_index, uid, PWMDataJNI::cancelOutputPeriodCallback); } /** @@ -178,47 +109,17 @@ public class PWMSim { * * @return the PWM period scale */ - public int getPeriodScale() { - return PWMDataJNI.getPeriodScale(m_index); + public int getOutputPeriod() { + return PWMDataJNI.getOutputPeriod(m_index); } /** * Set the PWM period scale. * - * @param periodScale the PWM period scale + * @param period the PWM period scale */ - public void setPeriodScale(int periodScale) { - PWMDataJNI.setPeriodScale(m_index, periodScale); - } - - /** - * Register a callback to be run when the PWM zero latch state changes. - * - * @param callback the callback - * @param initialNotify whether to run the callback with the initial state - * @return the {@link CallbackStore} object associated with this callback. - */ - public CallbackStore registerZeroLatchCallback(NotifyCallback callback, boolean initialNotify) { - int uid = PWMDataJNI.registerZeroLatchCallback(m_index, callback, initialNotify); - return new CallbackStore(m_index, uid, PWMDataJNI::cancelZeroLatchCallback); - } - - /** - * Check whether the PWM is zero latched. - * - * @return true if zero latched - */ - public boolean getZeroLatch() { - return PWMDataJNI.getZeroLatch(m_index); - } - - /** - * Define whether the PWM has been zero latched. - * - * @param zeroLatch true to indicate zero latched - */ - public void setZeroLatch(boolean zeroLatch) { - PWMDataJNI.setZeroLatch(m_index, zeroLatch); + public void setOutputPeriod(int period) { + PWMDataJNI.setOutputPeriod(m_index, period); } /** Reset all simulation data. */ diff --git a/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ServoSim.java b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ServoSim.java new file mode 100644 index 0000000000..aefbdff772 --- /dev/null +++ b/wpilibj/src/main/java/edu/wpi/first/wpilibj/simulation/ServoSim.java @@ -0,0 +1,50 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package edu.wpi.first.wpilibj.simulation; + +import edu.wpi.first.hal.SimDouble; +import edu.wpi.first.wpilibj.Servo; + +/** Class to control a simulated Servo. */ +public class ServoSim { + private final SimDouble m_simPosition; + + /** + * Constructor. + * + * @param servo The device to simulate + */ + public ServoSim(Servo servo) { + this(servo.getChannel()); + } + + /** + * Constructor. + * + * @param channel The channel the servo is attached to. + */ + public ServoSim(int channel) { + SimDeviceSim simDevice = new SimDeviceSim("Servo", channel); + m_simPosition = simDevice.getDouble("Position"); + } + + /** + * Gets the position set. + * + * @return Position + */ + public double getPosition() { + return m_simPosition.get(); + } + + /** + * Gets the angle set. + * + * @return Angle + */ + public double getAngle() { + return getPosition() * 180.0; + } +} diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/PWMMotorControllerSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/PWMMotorControllerSimTest.java new file mode 100644 index 0000000000..d76386bcf2 --- /dev/null +++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/PWMMotorControllerSimTest.java @@ -0,0 +1,31 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package edu.wpi.first.wpilibj.simulation; + +import static org.junit.jupiter.api.Assertions.assertEquals; + +import edu.wpi.first.hal.HAL; +import edu.wpi.first.wpilibj.motorcontrol.Spark; +import org.junit.jupiter.api.Test; + +class PWMMotorControllerSimTest { + @Test + void testMotor() { + HAL.initialize(500, 0); + + try (Spark spark = new Spark(0)) { + PWMMotorControllerSim sim = new PWMMotorControllerSim(spark); + + spark.set(0); + assertEquals(0, sim.getSpeed()); + + spark.set(0.354); + assertEquals(0.354, sim.getSpeed()); + + spark.set(-0.785); + assertEquals(-0.785, sim.getSpeed()); + } + } +} diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/PWMSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/PWMSimTest.java index 98a05afc95..8513b94c3f 100644 --- a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/PWMSimTest.java +++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/PWMSimTest.java @@ -11,13 +11,10 @@ import static org.junit.jupiter.api.Assertions.assertTrue; import edu.wpi.first.hal.HAL; import edu.wpi.first.wpilibj.PWM; import edu.wpi.first.wpilibj.simulation.testutils.BooleanCallback; -import edu.wpi.first.wpilibj.simulation.testutils.DoubleCallback; import edu.wpi.first.wpilibj.simulation.testutils.IntCallback; import org.junit.jupiter.api.Test; class PWMSimTest { - private static final double PWM_STEP_SIZE = 1.0 / 2000.0; - @Test void testInitialize() { HAL.initialize(500, 0); @@ -55,119 +52,7 @@ class PWMSimTest { } @Test - void testSetSpeed() { - HAL.initialize(500, 0); - - PWMSim sim = new PWMSim(0); - sim.resetData(); - assertFalse(sim.getInitialized()); - - DoubleCallback callback = new DoubleCallback(); - - try (CallbackStore cb = sim.registerSpeedCallback(callback, false); - PWM pwm = new PWM(0)) { - double kTestValue = 0.3504; - pwm.setSpeed(kTestValue); - - assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE); - assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE); - assertTrue(callback.wasTriggered()); - assertEquals(kTestValue, callback.getSetValue(), PWM_STEP_SIZE); - assertEquals(kTestValue / 2 + 0.5, sim.getPosition(), PWM_STEP_SIZE * 2); - assertEquals(kTestValue / 2 + 0.5, pwm.getPosition(), PWM_STEP_SIZE * 2); - - kTestValue = -1.0; - pwm.setSpeed(kTestValue); - - assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE); - assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE); - assertEquals(0.0, sim.getPosition(), PWM_STEP_SIZE); - assertEquals(0.0, pwm.getPosition(), PWM_STEP_SIZE); - - kTestValue = 0.0; - pwm.setSpeed(kTestValue); - - assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE); - assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE); - assertEquals(0.5, sim.getPosition(), PWM_STEP_SIZE); - assertEquals(0.5, pwm.getPosition(), PWM_STEP_SIZE); - - kTestValue = 1.0; - pwm.setSpeed(kTestValue); - - assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE); - assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE); - assertEquals(kTestValue, sim.getPosition(), PWM_STEP_SIZE); - assertEquals(kTestValue, pwm.getPosition(), PWM_STEP_SIZE); - - kTestValue = 1.1; - pwm.setSpeed(kTestValue); - - assertEquals(1.0, sim.getSpeed(), PWM_STEP_SIZE); - assertEquals(1.0, pwm.getSpeed(), PWM_STEP_SIZE); - assertEquals(1.0, sim.getPosition(), PWM_STEP_SIZE); - assertEquals(1.0, pwm.getPosition(), PWM_STEP_SIZE); - } - } - - @Test - void testSetPosition() { - HAL.initialize(500, 0); - - PWMSim sim = new PWMSim(0); - sim.resetData(); - assertFalse(sim.getInitialized()); - - DoubleCallback callback = new DoubleCallback(); - - try (CallbackStore cb = sim.registerPositionCallback(callback, false); - PWM pwm = new PWM(0)) { - double kTestValue = 0.3504; - pwm.setPosition(kTestValue); - - assertEquals(kTestValue, sim.getPosition(), PWM_STEP_SIZE); - assertEquals(kTestValue, pwm.getPosition(), PWM_STEP_SIZE); - assertTrue(callback.wasTriggered()); - assertEquals(kTestValue, callback.getSetValue(), PWM_STEP_SIZE); - assertEquals(kTestValue * 2 - 1.0, sim.getSpeed(), PWM_STEP_SIZE * 2); - assertEquals(kTestValue * 2 - 1.0, pwm.getSpeed(), PWM_STEP_SIZE * 2); - - kTestValue = -1.0; - pwm.setPosition(kTestValue); - - assertEquals(0.0, sim.getPosition(), PWM_STEP_SIZE); - assertEquals(0.0, pwm.getPosition(), PWM_STEP_SIZE); - assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE); - assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE); - - kTestValue = 0.0; - pwm.setPosition(kTestValue); - - assertEquals(kTestValue, sim.getPosition(), PWM_STEP_SIZE); - assertEquals(kTestValue, pwm.getPosition(), PWM_STEP_SIZE); - assertEquals(-1.0, sim.getSpeed(), PWM_STEP_SIZE); - assertEquals(-1.0, pwm.getSpeed(), PWM_STEP_SIZE); - - kTestValue = 1.0; - pwm.setPosition(kTestValue); - - assertEquals(kTestValue, sim.getPosition(), PWM_STEP_SIZE); - assertEquals(kTestValue, pwm.getPosition(), PWM_STEP_SIZE); - assertEquals(kTestValue, sim.getSpeed(), PWM_STEP_SIZE); - assertEquals(kTestValue, pwm.getSpeed(), PWM_STEP_SIZE); - - kTestValue = 1.1; - pwm.setPosition(kTestValue); - - assertEquals(1.0, sim.getPosition(), PWM_STEP_SIZE); - assertEquals(1.0, pwm.getPosition(), PWM_STEP_SIZE); - assertEquals(1.0, sim.getSpeed(), PWM_STEP_SIZE); - assertEquals(1.0, pwm.getSpeed(), PWM_STEP_SIZE); - } - } - - @Test - void testSetPeriodScale() { + void testSetOutputPeriod() { HAL.initialize(500, 0); PWMSim sim = new PWMSim(0); @@ -176,30 +61,12 @@ class PWMSimTest { IntCallback callback = new IntCallback(); - try (CallbackStore cb = sim.registerPeriodScaleCallback(callback, false); + try (CallbackStore cb = sim.registerOutputPeriodCallback(callback, false); PWM pwm = new PWM(0)) { - sim.setPeriodScale(3504); - assertEquals(3504, sim.getPeriodScale()); + sim.setOutputPeriod(3504); + assertEquals(3504, sim.getOutputPeriod()); assertTrue(callback.wasTriggered()); assertEquals(3504, callback.getSetValue()); } } - - @Test - void testSetZeroLatch() { - HAL.initialize(500, 0); - - PWMSim sim = new PWMSim(0); - sim.resetData(); - assertFalse(sim.getInitialized()); - - BooleanCallback callback = new BooleanCallback(); - - try (CallbackStore cb = sim.registerZeroLatchCallback(callback, false); - PWM pwm = new PWM(0)) { - pwm.setZeroLatch(); - - assertTrue(callback.wasTriggered()); - } - } } diff --git a/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ServoSimTest.java b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ServoSimTest.java new file mode 100644 index 0000000000..97931768c0 --- /dev/null +++ b/wpilibj/src/test/java/edu/wpi/first/wpilibj/simulation/ServoSimTest.java @@ -0,0 +1,37 @@ +// Copyright (c) FIRST and other WPILib contributors. +// Open Source Software; you can modify and/or share it under the terms of +// the WPILib BSD license file in the root directory of this project. + +package edu.wpi.first.wpilibj.simulation; + +import static org.junit.jupiter.api.Assertions.assertEquals; + +import edu.wpi.first.hal.HAL; +import edu.wpi.first.wpilibj.Servo; +import org.junit.jupiter.api.Test; + +class ServoSimTest { + @Test + void testServo() { + HAL.initialize(500, 0); + + try (Servo servo = new Servo(0)) { + ServoSim sim = new ServoSim(servo); + + servo.set(0); + assertEquals(0, sim.getPosition()); + + servo.set(0.354); + assertEquals(0.354, sim.getPosition()); + + servo.setAngle(10); + assertEquals(10, sim.getAngle()); + + servo.setAngle(90); + assertEquals(90, sim.getAngle()); + + servo.setAngle(170); + assertEquals(170, sim.getAngle()); + } + } +} diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java index 7f304519a4..873d4e6ca0 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java @@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; import edu.wpi.first.wpilibj.simulation.BatterySim; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.EncoderSim; -import edu.wpi.first.wpilibj.simulation.PWMSim; +import edu.wpi.first.wpilibj.simulation.PWMMotorControllerSim; import edu.wpi.first.wpilibj.simulation.RoboRioSim; import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; @@ -62,7 +62,7 @@ public class Elevator implements AutoCloseable { 0.005, 0.0); private final EncoderSim m_encoderSim = new EncoderSim(m_encoder); - private final PWMSim m_motorSim = new PWMSim(m_motor); + private final PWMMotorControllerSim m_motorSim = new PWMMotorControllerSim(m_motor); // Create a Mechanism2d visualization of the elevator private final Mechanism2d m_mech2d = diff --git a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java index 675326172f..ba23148f20 100644 --- a/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java +++ b/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java @@ -15,7 +15,7 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax; import edu.wpi.first.wpilibj.simulation.BatterySim; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.EncoderSim; -import edu.wpi.first.wpilibj.simulation.PWMSim; +import edu.wpi.first.wpilibj.simulation.PWMMotorControllerSim; import edu.wpi.first.wpilibj.simulation.RoboRioSim; import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d; import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d; @@ -57,7 +57,7 @@ public class Elevator implements AutoCloseable { 0.01, 0.0); private final EncoderSim m_encoderSim = new EncoderSim(m_encoder); - private final PWMSim m_motorSim = new PWMSim(m_motor); + private final PWMMotorControllerSim m_motorSim = new PWMMotorControllerSim(m_motor); // Create a Mechanism2d visualization of the elevator private final Mechanism2d m_mech2d = new Mechanism2d(20, 50); diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java index 15e17e055b..1a0fdee5e6 100644 --- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java +++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/armsimulation/ArmSimulationTest.java @@ -13,7 +13,7 @@ import edu.wpi.first.wpilibj.Preferences; import edu.wpi.first.wpilibj.simulation.DriverStationSim; import edu.wpi.first.wpilibj.simulation.EncoderSim; import edu.wpi.first.wpilibj.simulation.JoystickSim; -import edu.wpi.first.wpilibj.simulation.PWMSim; +import edu.wpi.first.wpilibj.simulation.PWMMotorControllerSim; import edu.wpi.first.wpilibj.simulation.RoboRioSim; import edu.wpi.first.wpilibj.simulation.SimHooks; import org.junit.jupiter.api.AfterEach; @@ -27,7 +27,7 @@ class ArmSimulationTest { private Robot m_robot; private Thread m_thread; - private PWMSim m_motorSim; + private PWMMotorControllerSim m_motorSim; private EncoderSim m_encoderSim; private JoystickSim m_joystickSim; @@ -39,7 +39,7 @@ class ArmSimulationTest { m_robot = new Robot(); m_thread = new Thread(m_robot::startCompetition); m_encoderSim = EncoderSim.createForChannel(Constants.kEncoderAChannel); - m_motorSim = new PWMSim(Constants.kMotorPort); + m_motorSim = new PWMMotorControllerSim(Constants.kMotorPort); m_joystickSim = new JoystickSim(Constants.kJoystickPort); m_thread.start(); @@ -57,7 +57,6 @@ class ArmSimulationTest { } m_robot.close(); m_encoderSim.resetData(); - m_motorSim.resetData(); Preferences.remove(Constants.kArmPKey); Preferences.remove(Constants.kArmPositionKey); Preferences.removeAll(); @@ -79,7 +78,6 @@ class ArmSimulationTest { DriverStationSim.setEnabled(true); DriverStationSim.notifyNewData(); - assertTrue(m_motorSim.getInitialized()); assertTrue(m_encoderSim.getInitialized()); } diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java index d7074a0fd9..ac53b2ba9c 100644 --- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java +++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/ElevatorSimulationTest.java @@ -11,7 +11,7 @@ import edu.wpi.first.hal.HAL; import edu.wpi.first.wpilibj.simulation.DriverStationSim; import edu.wpi.first.wpilibj.simulation.EncoderSim; import edu.wpi.first.wpilibj.simulation.JoystickSim; -import edu.wpi.first.wpilibj.simulation.PWMSim; +import edu.wpi.first.wpilibj.simulation.PWMMotorControllerSim; import edu.wpi.first.wpilibj.simulation.RoboRioSim; import edu.wpi.first.wpilibj.simulation.SimHooks; import org.junit.jupiter.api.AfterEach; @@ -24,7 +24,7 @@ class ElevatorSimulationTest { private Robot m_robot; private Thread m_thread; - private PWMSim m_motorSim; + private PWMMotorControllerSim m_motorSim; private EncoderSim m_encoderSim; private JoystickSim m_joystickSim; @@ -36,7 +36,7 @@ class ElevatorSimulationTest { m_robot = new Robot(); m_thread = new Thread(m_robot::startCompetition); m_encoderSim = EncoderSim.createForChannel(Constants.kEncoderAChannel); - m_motorSim = new PWMSim(Constants.kMotorPort); + m_motorSim = new PWMMotorControllerSim(Constants.kMotorPort); m_joystickSim = new JoystickSim(Constants.kJoystickPort); m_thread.start(); @@ -54,7 +54,6 @@ class ElevatorSimulationTest { } m_robot.close(); m_encoderSim.resetData(); - m_motorSim.resetData(); RoboRioSim.resetData(); DriverStationSim.resetData(); DriverStationSim.notifyNewData(); @@ -68,7 +67,6 @@ class ElevatorSimulationTest { DriverStationSim.setEnabled(true); DriverStationSim.notifyNewData(); - assertTrue(m_motorSim.getInitialized()); assertTrue(m_encoderSim.getInitialized()); } diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java index a329adf2aa..eca8244076 100644 --- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java +++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/potentiometerpid/PotentiometerPIDTest.java @@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.simulation.AnalogInputSim; import edu.wpi.first.wpilibj.simulation.DriverStationSim; import edu.wpi.first.wpilibj.simulation.ElevatorSim; import edu.wpi.first.wpilibj.simulation.JoystickSim; -import edu.wpi.first.wpilibj.simulation.PWMSim; +import edu.wpi.first.wpilibj.simulation.PWMMotorControllerSim; import edu.wpi.first.wpilibj.simulation.SimHooks; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; @@ -34,7 +34,7 @@ class PotentiometerPIDTest { private Thread m_thread; private ElevatorSim m_elevatorSim; - private PWMSim m_motorSim; + private PWMMotorControllerSim m_motorSim; private AnalogInputSim m_analogSim; private SimPeriodicBeforeCallback m_callback; private JoystickSim m_joystickSim; @@ -57,7 +57,7 @@ class PotentiometerPIDTest { true, 0); m_analogSim = new AnalogInputSim(Robot.kPotChannel); - m_motorSim = new PWMSim(Robot.kMotorChannel); + m_motorSim = new PWMMotorControllerSim(Robot.kMotorChannel); m_joystickSim = new JoystickSim(Robot.kJoystickChannel); m_callback = @@ -93,7 +93,6 @@ class PotentiometerPIDTest { m_robot.close(); m_callback.close(); m_analogSim.resetData(); - m_motorSim.resetData(); } @Test @@ -104,7 +103,6 @@ class PotentiometerPIDTest { DriverStationSim.setEnabled(true); DriverStationSim.notifyNewData(); - assertTrue(m_motorSim.getInitialized()); assertTrue(m_analogSim.getInitialized()); } diff --git a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java index 33be835ef8..b4049ef8e3 100644 --- a/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java +++ b/wpilibjExamples/src/test/java/edu/wpi/first/wpilibj/examples/unittest/subsystems/IntakeTest.java @@ -11,7 +11,7 @@ import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.examples.unittest.Constants.IntakeConstants; import edu.wpi.first.wpilibj.simulation.DoubleSolenoidSim; -import edu.wpi.first.wpilibj.simulation.PWMSim; +import edu.wpi.first.wpilibj.simulation.PWMMotorControllerSim; import org.junit.jupiter.api.AfterEach; import org.junit.jupiter.api.BeforeEach; import org.junit.jupiter.api.Test; @@ -19,7 +19,7 @@ import org.junit.jupiter.api.Test; class IntakeTest { static final double DELTA = 1e-2; // acceptable deviation range Intake m_intake; - PWMSim m_simMotor; + PWMMotorControllerSim m_simMotor; DoubleSolenoidSim m_simPiston; @BeforeEach // this method will run before each test @@ -27,7 +27,8 @@ class IntakeTest { assert HAL.initialize(500, 0); // initialize the HAL, crash if failed m_intake = new Intake(); // create our intake m_simMotor = - new PWMSim(IntakeConstants.kMotorPort); // create our simulation PWM motor controller + new PWMMotorControllerSim( + IntakeConstants.kMotorPort); // create our simulation PWM motor controller m_simPiston = new DoubleSolenoidSim( PneumaticsModuleType.CTREPCM,