mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
[hal, wpilib] PWM Rewrite (#7845)
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
@@ -27,21 +27,21 @@ class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
|
||||
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<PWM> {
|
||||
*
|
||||
* @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<PWM> {
|
||||
*
|
||||
* @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;
|
||||
|
||||
|
||||
Reference in New Issue
Block a user