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.
2026-06-24 01:31:46 +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/src/Servo.cpp
+++ b/wpilibc/athena/src/Servo.cpp
@@ -0,0 +1,132 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#include "Servo.h"
+
+#include "LiveWindow/LiveWindow.h"
+
+constexpr float Servo::kMaxServoAngle;
+constexpr float Servo::kMinServoAngle;
+
+constexpr float Servo::kDefaultMaxServoPWM;
+constexpr float Servo::kDefaultMinServoPWM;
+
+/**
+ * @param channel The PWM channel to which the servo is attached. 0-9 are
+ *                on-board, 10-19 are on the MXP port
+ */
+Servo::Servo(uint32_t channel) : SafePWM(channel) {
+  // Set minimum and maximum PWM values supported by the servo
+  SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
+
+  // Assign defaults for period multiplier for the servo PWM control signal
+  SetPeriodMultiplier(kPeriodMultiplier_4X);
+
+  //  printf("Done initializing servo %d\n", channel);
+}
+
+Servo::~Servo() {
+  if (m_table != nullptr) {
+    m_table->RemoveTableListener(this);
+  }
+}
+
+/**
+ * Set the servo position.
+ *
+ * Servo values range from 0.0 to 1.0 corresponding to the range of full left to
+ * full right.
+ *
+ * @param value Position from 0.0 to 1.0.
+ */
+void Servo::Set(float value) { SetPosition(value); }
+
+/**
+ * Set the servo to offline.
+ *
+ * Set the servo raw value to 0 (undriven)
+ */
+void Servo::SetOffline() { SetRaw(0); }
+
+/**
+ * Get the servo position.
+ *
+ * Servo values range from 0.0 to 1.0 corresponding to the range of full left to
+ * full right.
+ *
+ * @return Position from 0.0 to 1.0.
+ */
+float Servo::Get() const { return GetPosition(); }
+
+/**
+ * Set the servo angle.
+ *
+ * Assume that the servo angle is linear with respect to the PWM value (big
+ * assumption, need to test).
+ *
+ * Servo angles that are out of the supported range of the servo simply
+ * "saturate" in that direction. In other words, if the servo has a range of
+ * (X degrees to Y degrees) than angles of less than X result in an angle of
+ * X being set and angles of more than Y degrees result in an angle of Y being
+ * set.
+ *
+ * @param degrees The angle in degrees to set the servo.
+ */
+void Servo::SetAngle(float degrees) {
+  if (degrees < kMinServoAngle) {
+    degrees = kMinServoAngle;
+  } else if (degrees > kMaxServoAngle) {
+    degrees = kMaxServoAngle;
+  }
+
+  SetPosition(((float)(degrees - kMinServoAngle)) / GetServoAngleRange());
+}
+
+/**
+ * Get the servo angle.
+ *
+ * Assume that the servo angle is linear with respect to the PWM value (big
+ * assumption, need to test).
+ *
+ * @return The angle in degrees to which the servo is set.
+ */
+float Servo::GetAngle() const {
+  return (float)GetPosition() * GetServoAngleRange() + kMinServoAngle;
+}
+
+void Servo::ValueChanged(ITable* source, llvm::StringRef key,
+                         std::shared_ptr<nt::Value> value, bool isNew) {
+  if (!value->IsDouble()) return;
+  Set(value->GetDouble());
+}
+
+void Servo::UpdateTable() {
+  if (m_table != nullptr) {
+    m_table->PutNumber("Value", Get());
+  }
+}
+
+void Servo::StartLiveWindowMode() {
+  if (m_table != nullptr) {
+    m_table->AddTableListener("Value", this, true);
+  }
+}
+
+void Servo::StopLiveWindowMode() {
+  if (m_table != nullptr) {
+    m_table->RemoveTableListener(this);
+  }
+}
+
+std::string Servo::GetSmartDashboardType() const { return "Servo"; }
+
+void Servo::InitTable(std::shared_ptr<ITable> subTable) {
+  m_table = subTable;
+  UpdateTable();
+}
+
+std::shared_ptr<ITable> Servo::GetTable() const { return m_table; }