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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/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,