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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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25
wpilibc/src/main/native/include/frc/motorcontrol/PWMMotorController.h
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@@ -12,6 +12,7 @@
#include <utility>
#include <vector>
#include <hal/SimDevice.h>
#include <units/voltage.h>
#include <wpi/deprecated.h>
#include <wpi/sendable/Sendable.h>
@@ -133,11 +134,35 @@ class PWMMotorController : public MotorController,
/// PWM instances for motor controller.
PWM m_pwm;
void SetSpeed(double speed);
double GetSpeed() const;
void SetBounds(units::microsecond_t maxPwm,
units::microsecond_t deadbandMaxPwm,
units::microsecond_t centerPwm,
units::microsecond_t deadbandMinPwm,
units::microsecond_t minPwm);
private:
bool m_isInverted = false;
std::vector<PWMMotorController*> m_nonowningFollowers;
std::vector<std::unique_ptr<PWMMotorController>> m_owningFollowers;
hal::SimDevice m_simDevice;
hal::SimDouble m_simSpeed;
bool m_eliminateDeadband{0};
units::microsecond_t m_minPwm{0};
units::microsecond_t m_deadbandMinPwm{0};
units::microsecond_t m_centerPwm{0};
units::microsecond_t m_deadbandMaxPwm{0};
units::microsecond_t m_maxPwm{0};
units::microsecond_t GetMinPositivePwm() const;
units::microsecond_t GetMaxNegativePwm() const;
units::microsecond_t GetPositiveScaleFactor() const;
units::microsecond_t GetNegativeScaleFactor() const;
PWM* GetPwm() { return &m_pwm; }
};