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[hal, wpilib] PWM Rewrite (#7845)

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The HAL will only contain the output period and the raw microseconds. Higher level things such as SimDevice can handle everything else.
This commit is contained in:
Thad House
2025-03-20 19:23:22 -07:00
committed by GitHub
parent 2e21a41f87
commit e2cc9e0059
96 changed files with 1037 additions and 2453 deletions
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171
hal/src/main/native/cpp/jni/PWMJNI.cpp
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@@ -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,
&centerPwm, &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);
}