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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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7
wpilibc/src/generate/main/native/cpp/motorcontroller/pwm_motor_controller.cpp.jinja
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@@ -11,10 +11,9 @@
using namespace frc;
{{ name }}::{{ name }}(int channel) : PWMMotorController("{{ name }}", channel) {
m_pwm.SetBounds({{ pulse_width_ms.max }}_ms, {{ pulse_width_ms.deadbandMax }}_ms, {{ pulse_width_ms.center }}_ms, {{ pulse_width_ms.deadbandMin }}_ms, {{ pulse_width_ms.min }}_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_{{ PeriodMultiplier | default("1", true)}}X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds({{ pulse_width_ms.max }}_ms, {{ pulse_width_ms.deadbandMax }}_ms, {{ pulse_width_ms.center }}_ms, {{ pulse_width_ms.deadbandMin }}_ms, {{ pulse_width_ms.min }}_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_{{ OutputPeriod | default("5", true)}}Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "{{ ResourceName }}");
}