Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

[hal, wpilib] PWM Rewrite (#7845)

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

4
wpilibcExamples/src/main/cpp/examples/ElevatorExponentialSimulation/include/subsystems/Elevator.h
View File

@@ -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
View File

@@ -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
View File

@@ -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: