Renamed folders for consistency, using sim/athena/shared schema (#27)

Rename the following folders: hal/lib/Athena -> hal/lib/athena hal/lib/Desktop -> hal/lib/sim hal/lib/Shared -> hal/lib/shared wpilibc/Athena -> wpilibc/athena wpilibc/simulation -> wpilibc/sim Windows users may need to run gradlew clean after updating.
2026-07-03 03:01:44 +00:00 · 2016-05-22 17:55:51 -04:00
parent 54092378e9
commit e71f454b9d
308 changed files with 14 additions and 14 deletions
--- a/wpilibc/athena/include/CANSpeedController.h
+++ b/wpilibc/athena/include/CANSpeedController.h
@@ -0,0 +1,102 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2016. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "SpeedController.h"
+
+/**
+ * Interface for "smart" CAN-based speed controllers.
+ * @see CANJaguar
+ * @see CANTalon
+ */
+class CANSpeedController : public SpeedController {
+ public:
+  enum ControlMode {
+    kPercentVbus = 0,
+    kCurrent = 1,
+    kSpeed = 2,
+    kPosition = 3,
+    kVoltage = 4,
+    kFollower = 5,       // Not supported in Jaguar.
+    kMotionProfile = 6,  // Not supported in Jaguar.
+  };
+
+  // Helper function for the ControlMode enum
+  virtual bool IsModePID(ControlMode mode) const = 0;
+
+  enum Faults {
+    kCurrentFault = 1,
+    kTemperatureFault = 2,
+    kBusVoltageFault = 4,
+    kGateDriverFault = 8,
+    /* SRX extensions */
+    kFwdLimitSwitch = 0x10,
+    kRevLimitSwitch = 0x20,
+    kFwdSoftLimit = 0x40,
+    kRevSoftLimit = 0x80,
+  };
+
+  enum Limits { kForwardLimit = 1, kReverseLimit = 2 };
+
+  enum NeutralMode {
+    /** Use the NeutralMode that is set by the jumper wire on the CAN device */
+    kNeutralMode_Jumper = 0,
+    /** Stop the motor's rotation by applying a force. */
+    kNeutralMode_Brake = 1,
+    /** Do not attempt to stop the motor. Instead allow it to coast to a stop
+       without applying resistance. */
+    kNeutralMode_Coast = 2
+  };
+
+  enum LimitMode {
+    /** Only use switches for limits */
+    kLimitMode_SwitchInputsOnly = 0,
+    /** Use both switches and soft limits */
+    kLimitMode_SoftPositionLimits = 1,
+    /* SRX extensions */
+    /** Disable switches and disable soft limits */
+    kLimitMode_SrxDisableSwitchInputs = 2,
+  };
+
+  virtual float Get() const = 0;
+  virtual void Set(float value, uint8_t syncGroup = 0) = 0;
+  virtual void StopMotor() = 0;
+  virtual void Disable() = 0;
+  virtual void SetP(double p) = 0;
+  virtual void SetI(double i) = 0;
+  virtual void SetD(double d) = 0;
+  virtual void SetPID(double p, double i, double d) = 0;
+  virtual double GetP() const = 0;
+  virtual double GetI() const = 0;
+  virtual double GetD() const = 0;
+  virtual float GetBusVoltage() const = 0;
+  virtual float GetOutputVoltage() const = 0;
+  virtual float GetOutputCurrent() const = 0;
+  virtual float GetTemperature() const = 0;
+  virtual double GetPosition() const = 0;
+  virtual double GetSpeed() const = 0;
+  virtual bool GetForwardLimitOK() const = 0;
+  virtual bool GetReverseLimitOK() const = 0;
+  virtual uint16_t GetFaults() const = 0;
+  virtual void SetVoltageRampRate(double rampRate) = 0;
+  virtual uint32_t GetFirmwareVersion() const = 0;
+  virtual void ConfigNeutralMode(NeutralMode mode) = 0;
+  virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
+  virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
+  virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
+                                        double reverseLimitPosition) = 0;
+  virtual void DisableSoftPositionLimits() = 0;
+  virtual void ConfigLimitMode(LimitMode mode) = 0;
+  virtual void ConfigForwardLimit(double forwardLimitPosition) = 0;
+  virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
+  virtual void ConfigMaxOutputVoltage(double voltage) = 0;
+  virtual void ConfigFaultTime(float faultTime) = 0;
+  // Hold off on interface until we figure out ControlMode enums.
+  // virtual void SetControlMode(ControlMode mode) = 0;
+  // virtual ControlMode GetControlMode() const = 0;
+};