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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/generated/main/native/cpp/motorcontrol/DMC60.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
DMC60::DMC60(int channel) : PWMMotorController("DMC60", channel) {
m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "DigilentDMC60");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/Jaguar.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
Jaguar::Jaguar(int channel) : PWMMotorController("Jaguar", channel) {
m_pwm.SetBounds(2.31_ms, 1.55_ms, 1.507_ms, 1.454_ms, 0.697_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.31_ms, 1.55_ms, 1.507_ms, 1.454_ms, 0.697_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "Jaguar");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/Koors40.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
Koors40::Koors40(int channel) : PWMMotorController("Koors40", channel) {
m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_4X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_20Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "Koors40");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/PWMSparkFlex.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
PWMSparkFlex::PWMSparkFlex(int channel) : PWMMotorController("PWMSparkFlex", channel) {
m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "RevSparkFlexPWM");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/PWMSparkMax.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
PWMSparkMax::PWMSparkMax(int channel) : PWMMotorController("PWMSparkMax", channel) {
m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "RevSparkMaxPWM");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/PWMTalonFX.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
PWMTalonFX::PWMTalonFX(int channel) : PWMMotorController("PWMTalonFX", channel) {
m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "TalonFX");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/PWMTalonSRX.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
PWMTalonSRX::PWMTalonSRX(int channel) : PWMMotorController("PWMTalonSRX", channel) {
m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "PWMTalonSRX");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/PWMVenom.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
PWMVenom::PWMVenom(int channel) : PWMMotorController("PWMVenom", channel) {
m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "FusionVenom");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/PWMVictorSPX.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
PWMVictorSPX::PWMVictorSPX(int channel) : PWMMotorController("PWMVictorSPX", channel) {
m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "PWMVictorSPX");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/SD540.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
SD540::SD540(int channel) : PWMMotorController("SD540", channel) {
m_pwm.SetBounds(2.05_ms, 1.55_ms, 1.5_ms, 1.44_ms, 0.94_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.05_ms, 1.55_ms, 1.5_ms, 1.44_ms, 0.94_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "MindsensorsSD540");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/Spark.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
Spark::Spark(int channel) : PWMMotorController("Spark", channel) {
m_pwm.SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.003_ms, 1.55_ms, 1.5_ms, 1.46_ms, 0.999_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "RevSPARK");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/SparkMini.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
SparkMini::SparkMini(int channel) : PWMMotorController("SparkMini", channel) {
m_pwm.SetBounds(2.5_ms, 1.51_ms, 1.5_ms, 1.49_ms, 0.5_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.5_ms, 1.51_ms, 1.5_ms, 1.49_ms, 0.5_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "RevSPARK");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/Talon.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
Talon::Talon(int channel) : PWMMotorController("Talon", channel) {
m_pwm.SetBounds(2.037_ms, 1.539_ms, 1.513_ms, 1.487_ms, 0.989_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.037_ms, 1.539_ms, 1.513_ms, 1.487_ms, 0.989_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "Talon");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/Victor.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
Victor::Victor(int channel) : PWMMotorController("Victor", channel) {
m_pwm.SetBounds(2.027_ms, 1.525_ms, 1.507_ms, 1.49_ms, 1.026_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_2X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.027_ms, 1.525_ms, 1.507_ms, 1.49_ms, 1.026_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_10Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "Victor");
}

7
wpilibc/src/generated/main/native/cpp/motorcontrol/VictorSP.cpp generated
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@@ -11,10 +11,9 @@
using namespace frc;
VictorSP::VictorSP(int channel) : PWMMotorController("VictorSP", channel) {
m_pwm.SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetPeriodMultiplier(PWM::kPeriodMultiplier_1X);
m_pwm.SetSpeed(0.0);
m_pwm.SetZeroLatch();
SetBounds(2.004_ms, 1.52_ms, 1.5_ms, 1.48_ms, 0.997_ms);
m_pwm.SetOutputPeriod(PWM::kOutputPeriod_5Ms);
SetSpeed(0.0);
HAL_ReportUsage("IO", GetChannel(), "VictorSP");
}