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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
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorexponentialsimulation/subsystems/Elevator.java
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@@ -16,7 +16,7 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.ElevatorSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.PWMSim;
import edu.wpi.first.wpilibj.simulation.PWMMotorControllerSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
@@ -62,7 +62,7 @@ public class Elevator implements AutoCloseable {
0.005,
0.0);
private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
private final PWMSim m_motorSim = new PWMSim(m_motor);
private final PWMMotorControllerSim m_motorSim = new PWMMotorControllerSim(m_motor);
// Create a Mechanism2d visualization of the elevator
private final Mechanism2d m_mech2d =

4
wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/elevatorsimulation/subsystems/Elevator.java
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@@ -15,7 +15,7 @@ import edu.wpi.first.wpilibj.motorcontrol.PWMSparkMax;
import edu.wpi.first.wpilibj.simulation.BatterySim;
import edu.wpi.first.wpilibj.simulation.ElevatorSim;
import edu.wpi.first.wpilibj.simulation.EncoderSim;
import edu.wpi.first.wpilibj.simulation.PWMSim;
import edu.wpi.first.wpilibj.simulation.PWMMotorControllerSim;
import edu.wpi.first.wpilibj.simulation.RoboRioSim;
import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d;
import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d;
@@ -57,7 +57,7 @@ public class Elevator implements AutoCloseable {
0.01,
0.0);
private final EncoderSim m_encoderSim = new EncoderSim(m_encoder);
private final PWMSim m_motorSim = new PWMSim(m_motor);
private final PWMMotorControllerSim m_motorSim = new PWMMotorControllerSim(m_motor);
// Create a Mechanism2d visualization of the elevator
private final Mechanism2d m_mech2d = new Mechanism2d(20, 50);