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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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4
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.h
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@@ -11,7 +11,7 @@
#include <frc/simulation/BatterySim.h>
#include <frc/simulation/ElevatorSim.h>
#include <frc/simulation/EncoderSim.h>
#include <frc/simulation/PWMSim.h>
#include <frc/simulation/PWMMotorControllerSim.h>
#include <frc/simulation/RoboRioSim.h>
#include <frc/smartdashboard/Mechanism2d.h>
#include <frc/smartdashboard/MechanismLigament2d.h>
@@ -50,7 +50,7 @@ class Elevator {
frc::Encoder m_encoder{Constants::kEncoderAChannel,
Constants::kEncoderBChannel};
frc::PWMSparkMax m_motor{Constants::kMotorPort};
frc::sim::PWMSim m_motorSim{m_motor};
frc::sim::PWMMotorControllerSim m_motorSim{m_motor};
// Simulation classes help us simulate what's going on, including gravity.
frc::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,

4
wpilibcExamples/src/main/cpp/examples/ElevatorSimulation/include/subsystems/Elevator.h
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@@ -12,7 +12,7 @@
#include <frc/simulation/BatterySim.h>
#include <frc/simulation/ElevatorSim.h>
#include <frc/simulation/EncoderSim.h>
#include <frc/simulation/PWMSim.h>
#include <frc/simulation/PWMMotorControllerSim.h>
#include <frc/simulation/RoboRioSim.h>
#include <frc/smartdashboard/Mechanism2d.h>
#include <frc/smartdashboard/MechanismLigament2d.h>
@@ -46,7 +46,7 @@ class Elevator {
frc::Encoder m_encoder{Constants::kEncoderAChannel,
Constants::kEncoderBChannel};
frc::PWMSparkMax m_motor{Constants::kMotorPort};
frc::sim::PWMSim m_motorSim{m_motor};
frc::sim::PWMMotorControllerSim m_motorSim{m_motor};
// Simulation classes help us simulate what's going on, including gravity.
frc::sim::ElevatorSim m_elevatorSim{m_elevatorGearbox,

7
wpilibcExamples/src/main/cpp/examples/HAL/c/Robot.c
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@@ -70,9 +70,6 @@ int main(void) {
return 1;
}
// Set PWM config to standard servo speeds
HAL_SetPWMConfigMicroseconds(pwmPort, 2000, 1501, 1500, 1499, 1000, &status);
// Create an Input
status = 0;
HAL_DigitalHandle dio = HAL_InitializeDIOPort(2, 1, NULL, &status);
@@ -105,9 +102,9 @@ int main(void) {
case TeleopMode:
status = 0;
if (HAL_GetDIO(dio, &status)) {
HAL_SetPWMSpeed(pwmPort, 1.0, &status);
HAL_SetPWMPulseTimeMicroseconds(pwmPort, 2000, &status);
} else {
HAL_SetPWMSpeed(pwmPort, 0, &status);
HAL_SetPWMPulseTimeMicroseconds(pwmPort, 1500, &status);
}
break;
case AutoMode:

6
wpilibcExamples/src/test/cpp/examples/ArmSimulation/cpp/ArmSimulationTest.cpp
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@@ -8,7 +8,7 @@
#include <frc/Preferences.h>
#include <frc/simulation/DriverStationSim.h>
#include <frc/simulation/JoystickSim.h>
#include <frc/simulation/PWMSim.h>
#include <frc/simulation/PWMMotorControllerSim.h>
#include <frc/simulation/SimHooks.h>
#include <gtest/gtest.h>
#include <hal/simulation/MockHooks.h>
@@ -23,7 +23,7 @@ class ArmSimulationTest : public testing::TestWithParam<units::degree_t> {
std::optional<std::thread> m_thread;
protected:
frc::sim::PWMSim m_motorSim{kMotorPort};
frc::sim::PWMMotorControllerSim m_motorSim{kMotorPort};
frc::sim::EncoderSim m_encoderSim =
frc::sim::EncoderSim::CreateForChannel(kEncoderAChannel);
frc::sim::JoystickSim m_joystickSim{kJoystickPort};
@@ -41,7 +41,6 @@ class ArmSimulationTest : public testing::TestWithParam<units::degree_t> {
m_thread->join();
m_encoderSim.ResetData();
m_motorSim.ResetData();
frc::sim::DriverStationSim::ResetData();
frc::Preferences::RemoveAll();
}
@@ -61,7 +60,6 @@ TEST_P(ArmSimulationTest, Teleop) {
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_motorSim.GetInitialized());
EXPECT_TRUE(m_encoderSim.GetInitialized());
}

6
wpilibcExamples/src/test/cpp/examples/ElevatorSimulation/cpp/ElevatorSimulationTest.cpp
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@@ -7,7 +7,7 @@
#include <frc/simulation/DriverStationSim.h>
#include <frc/simulation/JoystickSim.h>
#include <frc/simulation/PWMSim.h>
#include <frc/simulation/PWMMotorControllerSim.h>
#include <frc/simulation/SimHooks.h>
#include <gtest/gtest.h>
#include <hal/simulation/MockHooks.h>
@@ -25,7 +25,7 @@ class ElevatorSimulationTest : public testing::Test {
std::optional<std::thread> m_thread;
protected:
frc::sim::PWMSim m_motorSim{Constants::kMotorPort};
frc::sim::PWMMotorControllerSim m_motorSim{Constants::kMotorPort};
frc::sim::EncoderSim m_encoderSim =
frc::sim::EncoderSim::CreateForChannel(Constants::kEncoderAChannel);
frc::sim::JoystickSim m_joystickSim{Constants::kJoystickPort};
@@ -43,7 +43,6 @@ class ElevatorSimulationTest : public testing::Test {
m_thread->join();
m_encoderSim.ResetData();
m_motorSim.ResetData();
frc::sim::DriverStationSim::ResetData();
}
};
@@ -55,7 +54,6 @@ TEST_F(ElevatorSimulationTest, Teleop) {
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_motorSim.GetInitialized());
EXPECT_TRUE(m_encoderSim.GetInitialized());
}

6
wpilibcExamples/src/test/cpp/examples/PotentiometerPID/cpp/PotentiometerPIDTest.cpp
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@@ -10,7 +10,7 @@
#include <frc/simulation/DriverStationSim.h>
#include <frc/simulation/ElevatorSim.h>
#include <frc/simulation/JoystickSim.h>
#include <frc/simulation/PWMSim.h>
#include <frc/simulation/PWMMotorControllerSim.h>
#include <frc/simulation/SimHooks.h>
#include <frc/system/plant/DCMotor.h>
#include <gtest/gtest.h>
@@ -39,7 +39,7 @@ class PotentiometerPIDTest : public testing::Test {
Robot::kFullHeight,
true,
0.0_m};
frc::sim::PWMSim m_motorSim{Robot::kMotorChannel};
frc::sim::PWMMotorControllerSim m_motorSim{Robot::kMotorChannel};
frc::sim::AnalogInputSim m_analogSim{Robot::kPotChannel};
frc::sim::JoystickSim m_joystickSim{Robot::kJoystickChannel};
int32_t m_callback;
@@ -85,7 +85,6 @@ class PotentiometerPIDTest : public testing::Test {
HALSIM_CancelSimPeriodicBeforeCallback(m_callback);
m_analogSim.ResetData();
m_motorSim.ResetData();
}
};
@@ -96,7 +95,6 @@ TEST_F(PotentiometerPIDTest, Teleop) {
frc::sim::DriverStationSim::SetEnabled(true);
frc::sim::DriverStationSim::NotifyNewData();
EXPECT_TRUE(m_motorSim.GetInitialized());
EXPECT_TRUE(m_analogSim.GetInitialized());
}

4
wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
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@@ -4,7 +4,7 @@
#include <frc/DoubleSolenoid.h>
#include <frc/simulation/DoubleSolenoidSim.h>
#include <frc/simulation/PWMSim.h>
#include <frc/simulation/PWMMotorControllerSim.h>
#include <gtest/gtest.h>
#include "Constants.h"
@@ -13,7 +13,7 @@
class IntakeTest : public testing::Test {
protected:
Intake intake; // create our intake
frc::sim::PWMSim simMotor{
frc::sim::PWMMotorControllerSim simMotor{
IntakeConstants::kMotorPort}; // create our simulation PWM
frc::sim::DoubleSolenoidSim simPiston{
frc::PneumaticsModuleType::CTREPCM, IntakeConstants::kPistonFwdChannel,