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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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8
simulation/halsim_gui/src/main/native/cpp/PWMSimGui.cpp
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@@ -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 {

5
simulation/halsim_ws_core/doc/hardware_ws_api.md
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@@ -265,11 +265,8 @@ PWMs may be used to control either motor controllers or servos. Typically only
| Data Key | Type | Description |
| ------------------- | ------- | ------------------------------------------ |
| ``"<init"`` | Boolean | If PWM is initialized in the robot program |
| ``"<speed"`` | Float | Speed, -1.0 to 1.0 range |
| ``"<position"`` | Float | Servo position, 0.0 to 1.0 range |
| ``"<raw"`` | Integer | The pulse time in microseconds |
| ``"<period_scale"`` | Integer | Scales the PWM signal by squelching setting a 2-bit mask of outputs to squelch (ex. `1` -> squelch every other value; `3` -> squelch 3 of 4 values) |
| ``"<zero_latch"`` | Boolean | Whether the PWM should be latched to 0 |
| ``"<output_period"``| Integer | Scales the PWM signal by squelching setting a 2-bit mask of outputs to squelch (ex. `1` -> squelch every other value; `3` -> squelch 3 of 4 values) |
#### Solenoid Output ("Solenoid")

15
simulation/halsim_ws_core/doc/wpilib-ws.yaml
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@@ -505,25 +505,12 @@ components:
<init:
type: boolean
description: "If PWM is initialized in the robot program"
<speed:
type: number
description: "Speed"
minimum: -1.0
maximum: 1.0
<position:
type: number
description: "Servo position"
minimum: 0.0
maximum: 1.0
"<raw":
type: integer
description: "The pulse time in microseconds"
"<period_scale":
"<output_period":
type: integer
description: "Scales the PWM signal by squelching setting a 2-bit mask of outputs to squelch (ex. `1` -> squelch every other value; `3` -> squelch 3 of 4 values)"
"<zero_latch":
type: boolean
description: "Whether the PWM should be latched to 0"
solenoidData:
type: object

15
simulation/halsim_ws_core/src/main/native/cpp/WSProvider_PWM.cpp
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@@ -28,11 +28,8 @@ HALSimWSProviderPWM::~HALSimWSProviderPWM() {
void HALSimWSProviderPWM::RegisterCallbacks() {
m_initCbKey = REGISTER(Initialized, "<init", bool, boolean);
m_speedCbKey = REGISTER(Speed, "<speed", double, double);
m_positionCbKey = REGISTER(Position, "<position", double, double);
m_rawCbKey = REGISTER(PulseMicrosecond, "<raw", int32_t, int);
m_periodScaleCbKey = REGISTER(PeriodScale, "<period_scale", int32_t, int);
m_zeroLatchCbKey = REGISTER(ZeroLatch, "<zero_latch", bool, boolean);
m_outputPeriodCbKey = REGISTER(OutputPeriod, "<output_period", int32_t, int);
}
void HALSimWSProviderPWM::CancelCallbacks() {
@@ -41,18 +38,12 @@ void HALSimWSProviderPWM::CancelCallbacks() {
void HALSimWSProviderPWM::DoCancelCallbacks() {
HALSIM_CancelPWMInitializedCallback(m_channel, m_initCbKey);
HALSIM_CancelPWMSpeedCallback(m_channel, m_speedCbKey);
HALSIM_CancelPWMPositionCallback(m_channel, m_positionCbKey);
HALSIM_CancelPWMPulseMicrosecondCallback(m_channel, m_rawCbKey);
HALSIM_CancelPWMPeriodScaleCallback(m_channel, m_periodScaleCbKey);
HALSIM_CancelPWMZeroLatchCallback(m_channel, m_zeroLatchCbKey);
HALSIM_CancelPWMOutputPeriodCallback(m_channel, m_outputPeriodCbKey);
m_initCbKey = 0;
m_speedCbKey = 0;
m_positionCbKey = 0;
m_rawCbKey = 0;
m_periodScaleCbKey = 0;
m_zeroLatchCbKey = 0;
m_outputPeriodCbKey = 0;
}
} // namespace wpilibws

5
simulation/halsim_ws_core/src/main/native/include/WSProvider_PWM.h
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@@ -24,11 +24,8 @@ class HALSimWSProviderPWM : public HALSimWSHalChanProvider {
private:
int32_t m_initCbKey = 0;
int32_t m_speedCbKey = 0;
int32_t m_positionCbKey = 0;
int32_t m_rawCbKey = 0;
int32_t m_periodScaleCbKey = 0;
int32_t m_zeroLatchCbKey = 0;
int32_t m_outputPeriodCbKey = 0;
};
} // namespace wpilibws