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[wpilib] PH: Revert to 5V rail being fixed 5V (#5122)

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This commit is contained in:
Noah Andrews
2023-02-24 21:55:50 -06:00
committed by GitHub
parent 4c46b6aff9
commit edf4ded412
2 changed files with 26 additions and 12 deletions
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22
wpilibc/src/main/native/cpp/PneumaticHub.cpp
View File

@@ -161,11 +161,14 @@ void PneumaticHub::EnableCompressorAnalog(
"maxPressure must be between 0 and 120 PSI, got {}", "maxPressure must be between 0 and 120 PSI, got {}",
maxPressure); maxPressure);
} }
// Send the voltage as it would be if the 5V rail was at exactly 5V.
// The firmware will compensate for the real 5V rail voltage, which
// can fluctuate somewhat over time.
units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
int32_t status = 0; int32_t status = 0;
units::volt_t minAnalogVoltage =
PSIToVolts(minPressure, Get5VRegulatedVoltage());
units::volt_t maxAnalogVoltage =
PSIToVolts(maxPressure, Get5VRegulatedVoltage());
HAL_SetREVPHClosedLoopControlAnalog(m_handle, minAnalogVoltage.value(), HAL_SetREVPHClosedLoopControlAnalog(m_handle, minAnalogVoltage.value(),
maxAnalogVoltage.value(), &status); maxAnalogVoltage.value(), &status);
FRC_ReportError(status, "Module {}", m_module); FRC_ReportError(status, "Module {}", m_module);
@@ -188,11 +191,14 @@ void PneumaticHub::EnableCompressorHybrid(
"maxPressure must be between 0 and 120 PSI, got {}", "maxPressure must be between 0 and 120 PSI, got {}",
maxPressure); maxPressure);
} }
// Send the voltage as it would be if the 5V rail was at exactly 5V.
// The firmware will compensate for the real 5V rail voltage, which
// can fluctuate somewhat over time.
units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
int32_t status = 0; int32_t status = 0;
units::volt_t minAnalogVoltage =
PSIToVolts(minPressure, Get5VRegulatedVoltage());
units::volt_t maxAnalogVoltage =
PSIToVolts(maxPressure, Get5VRegulatedVoltage());
HAL_SetREVPHClosedLoopControlHybrid(m_handle, minAnalogVoltage.value(), HAL_SetREVPHClosedLoopControlHybrid(m_handle, minAnalogVoltage.value(),
maxAnalogVoltage.value(), &status); maxAnalogVoltage.value(), &status);
FRC_ReportError(status, "Module {}", m_module); FRC_ReportError(status, "Module {}", m_module);

16
wpilibj/src/main/java/edu/wpi/first/wpilibj/PneumaticHub.java
View File

@@ -294,8 +294,12 @@ public class PneumaticHub implements PneumaticsBase {
throw new IllegalArgumentException( throw new IllegalArgumentException(
"maxPressure must be between 0 and 120 PSI, got " + maxPressure); "maxPressure must be between 0 and 120 PSI, got " + maxPressure);
} }
double minAnalogVoltage = psiToVolts(minPressure, get5VRegulatedVoltage());
double maxAnalogVoltage = psiToVolts(maxPressure, get5VRegulatedVoltage()); // Send the voltage as it would be if the 5V rail was at exactly 5V.
// The firmware will compensate for the real 5V rail voltage, which
// can fluctuate somewhat over time.
double minAnalogVoltage = psiToVolts(minPressure, 5);
double maxAnalogVoltage = psiToVolts(maxPressure, 5);
REVPHJNI.setClosedLoopControlAnalog(m_handle, minAnalogVoltage, maxAnalogVoltage); REVPHJNI.setClosedLoopControlAnalog(m_handle, minAnalogVoltage, maxAnalogVoltage);
} }
@@ -339,8 +343,12 @@ public class PneumaticHub implements PneumaticsBase {
throw new IllegalArgumentException( throw new IllegalArgumentException(
"maxPressure must be between 0 and 120 PSI, got " + maxPressure); "maxPressure must be between 0 and 120 PSI, got " + maxPressure);
} }
double minAnalogVoltage = psiToVolts(minPressure, get5VRegulatedVoltage());
double maxAnalogVoltage = psiToVolts(maxPressure, get5VRegulatedVoltage()); // Send the voltage as it would be if the 5V rail was at exactly 5V.
// The firmware will compensate for the real 5V rail voltage, which
// can fluctuate somewhat over time.
double minAnalogVoltage = psiToVolts(minPressure, 5);
double maxAnalogVoltage = psiToVolts(maxPressure, 5);
REVPHJNI.setClosedLoopControlHybrid(m_handle, minAnalogVoltage, maxAnalogVoltage); REVPHJNI.setClosedLoopControlHybrid(m_handle, minAnalogVoltage, maxAnalogVoltage);
} }