Add Nidec Brushless motor. (#705)

wpilibc/src/main/native/cpp/NidecBrushless.cpp

@@ -0,0 +1,170 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. 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 "NidecBrushless.h"
+
+#include <HAL/HAL.h>
+
+#include "LiveWindow/LiveWindow.h"
+
+using namespace frc;
+
+/**
+ * Constructor.
+ *
+ * @param pwmChannel The PWM channel that the Nidec Brushless controller is
+ *                   attached to.  0-9 are on-board, 10-19 are on the MXP port
+ * @param dioChannel The DIO channel that the Nidec Brushless controller is
+ *                   attached to.  0-9 are on-board, 10-25 are on the MXP port
+ */
+NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
+    : m_safetyHelper(this), m_dio(dioChannel), m_pwm(pwmChannel) {
+  m_safetyHelper.SetExpiration(0.0);
+  m_safetyHelper.SetSafetyEnabled(false);
+
+  // the dio controls the output (in PWM mode)
+  m_dio.SetPWMRate(15625);
+  m_dio.EnablePWM(0.5);
+
+  // the pwm enables the controller
+  m_pwm.SetRaw(0xffff);
+
+  LiveWindow::GetInstance()->AddActuator("Nidec Brushless", pwmChannel, this);
+  HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel);
+}
+
+/**
+ * Set the PWM value.
+ *
+ * <p>The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
+ * the value for the FPGA.
+ *
+ * @param speed The speed value between -1.0 and 1.0 to set.
+ */
+void NidecBrushless::Set(double speed) {
+  m_speed = speed;
+  m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
+  m_safetyHelper.Feed();
+}
+
+/**
+ * Get the recently set value of the PWM.
+ *
+ * @return The most recently set value for the PWM between -1.0 and 1.0.
+ */
+double NidecBrushless::Get() const { return m_speed; }
+
+void NidecBrushless::SetInverted(bool isInverted) { m_isInverted = isInverted; }
+
+bool NidecBrushless::GetInverted() const { return m_isInverted; }
+
+/**
+ * Write out the PID value as seen in the PIDOutput base object.
+ *
+ * @param output Write out the PWM value as was found in the PIDController
+ */
+void NidecBrushless::PIDWrite(double output) { Set(output); }
+
+/**
+ * Set the safety expiration time.
+ *
+ * @param timeout The timeout (in seconds) for this motor object
+ */
+void NidecBrushless::SetExpiration(double timeout) {
+  m_safetyHelper.SetExpiration(timeout);
+}
+
+/**
+ * Return the safety expiration time.
+ *
+ * @return The expiration time value.
+ */
+double NidecBrushless::GetExpiration() const {
+  return m_safetyHelper.GetExpiration();
+}
+
+/**
+ * Check if the motor is currently alive or stopped due to a timeout.
+ *
+ * @return a bool value that is true if the motor has NOT timed out and should
+ * still be running.
+ */
+bool NidecBrushless::IsAlive() const { return m_safetyHelper.IsAlive(); }
+
+/**
+ * Stop the motor. This is called by the MotorSafetyHelper object
+ * when it has a timeout for this PWM and needs to stop it from running.
+ */
+void NidecBrushless::StopMotor() { Disable(); }
+
+/**
+ * Check if motor safety is enabled.
+ *
+ * @return True if motor safety is enforced for this object
+ */
+bool NidecBrushless::IsSafetyEnabled() const {
+  return m_safetyHelper.IsSafetyEnabled();
+}
+
+void NidecBrushless::SetSafetyEnabled(bool enabled) {
+  m_safetyHelper.SetSafetyEnabled(enabled);
+}
+
+void NidecBrushless::GetDescription(llvm::raw_ostream& desc) const {
+  desc << "Nidec " << GetChannel();
+}
+
+void NidecBrushless::Disable() { m_dio.UpdateDutyCycle(0.5); }
+
+/**
+ * Gets the channel number associated with the object.
+ *
+ * @return The channel number.
+ */
+int NidecBrushless::GetChannel() const { return m_pwm.GetChannel(); }
+
+/*
+ * Live Window code, only does anything if live window is activated.
+ */
+std::string NidecBrushless::GetSmartDashboardType() const {
+  return "Nidec Brushless";
+}
+
+void NidecBrushless::InitTable(std::shared_ptr<nt::NetworkTable> subtable) {
+  if (subtable) {
+    m_valueEntry = subtable->GetEntry("Value");
+    UpdateTable();
+  } else {
+    m_valueEntry = nt::NetworkTableEntry();
+  }
+}
+
+void NidecBrushless::UpdateTable() {
+  if (m_valueEntry) {
+    m_valueEntry.SetDouble(Get());
+  }
+}
+
+void NidecBrushless::StartLiveWindowMode() {
+  Set(0);  // Stop for safety
+  if (m_valueEntry) {
+    m_valueListener = m_valueEntry.AddListener(
+        [=](const nt::EntryNotification& event) {
+          if (!event.value->IsDouble()) return;
+          Set(event.value->GetDouble());
+        },
+        NT_NOTIFY_IMMEDIATE | NT_NOTIFY_NEW | NT_NOTIFY_UPDATE);
+  }
+}
+
+void NidecBrushless::StopLiveWindowMode() {
+  Set(0);  // Stop for safety
+  if (m_valueListener != 0) {
+    m_valueEntry.RemoveListener(m_valueListener);
+    m_valueListener = 0;
+  }
+}

wpilibc/src/main/native/include/NidecBrushless.h

@@ -0,0 +1,73 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. 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 <memory>
+#include <string>
+
+#include "DigitalOutput.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "MotorSafety.h"
+#include "MotorSafetyHelper.h"
+#include "PWM.h"
+#include "SpeedController.h"
+#include "networktables/NetworkTableEntry.h"
+
+namespace frc {
+
+/**
+ * Nidec Brushless Motor.
+ */
+class NidecBrushless : public SpeedController,
+                       public MotorSafety,
+                       public LiveWindowSendable {
+ public:
+  NidecBrushless(int pwmChannel, int dioChannel);
+  ~NidecBrushless() = default;
+
+  // SpeedController interface
+  void Set(double speed) override;
+  double Get() const override;
+  void SetInverted(bool isInverted) override;
+  bool GetInverted() const override;
+  void Disable() override;
+  void StopMotor() override;
+
+  // PIDOutput interface
+  void PIDWrite(double output) override;
+
+  // MotorSafety interface
+  void SetExpiration(double timeout) override;
+  double GetExpiration() const override;
+  bool IsAlive() const override;
+  void SetSafetyEnabled(bool enabled) override;
+  bool IsSafetyEnabled() const override;
+  void GetDescription(llvm::raw_ostream& desc) const override;
+
+  int GetChannel() const;
+
+  // Sendable interface
+  void InitTable(std::shared_ptr<nt::NetworkTable> subtable) override;
+  std::string GetSmartDashboardType() const override;
+
+  // LiveWindowSendable interface
+  void UpdateTable() override;
+  void StartLiveWindowMode() override;
+  void StopLiveWindowMode() override;
+
+ private:
+  MotorSafetyHelper m_safetyHelper;
+  bool m_isInverted = false;
+  DigitalOutput m_dio;
+  PWM m_pwm;
+  double m_speed = 0.0;
+  nt::NetworkTableEntry m_valueEntry;
+  int m_valueListener;
+};
+
+}  // namespace frc

wpilibj/src/main/java/edu/wpi/first/wpilibj/NidecBrushless.java

@@ -0,0 +1,213 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017 FIRST. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package edu.wpi.first.wpilibj;
+
+import edu.wpi.first.networktables.EntryListenerFlags;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.wpilibj.hal.FRCNetComm.tResourceType;
+import edu.wpi.first.wpilibj.hal.HAL;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
+
+/**
+ * Nidec Brushless Motor.
+ */
+public class NidecBrushless implements SpeedController, MotorSafety, LiveWindowSendable {
+  private final MotorSafetyHelper m_safetyHelper;
+  private boolean m_isInverted = false;
+  private DigitalOutput m_dio;
+  private PWM m_pwm;
+  private volatile double m_speed = 0.0;
+
+  /**
+   * Constructor.
+   *
+   * @param pwmChannel The PWM channel that the Nidec Brushless controller is attached to.
+   *                   0-9 are on-board, 10-19 are on the MXP port
+   * @param dioChannel The DIO channel that the Nidec Brushless controller is attached to.
+   *                   0-9 are on-board, 10-25 are on the MXP port
+   */
+  public NidecBrushless(final int pwmChannel, final int dioChannel) {
+    m_safetyHelper = new MotorSafetyHelper(this);
+    m_safetyHelper.setExpiration(0.0);
+    m_safetyHelper.setSafetyEnabled(false);
+
+    // the dio controls the output (in PWM mode)
+    m_dio = new DigitalOutput(dioChannel);
+    m_dio.setPWMRate(15625);
+    m_dio.enablePWM(0.5);
+
+    // the pwm enables the controller
+    m_pwm = new PWM(pwmChannel);
+    m_pwm.setRaw(0xffff);
+
+    LiveWindow.addActuator("Nidec Brushless", pwmChannel, this);
+    HAL.report(tResourceType.kResourceType_NidecBrushless, pwmChannel);
+  }
+
+  /**
+   * Set the PWM value.
+   *
+   * <p>The PWM value is set using a range of -1.0 to 1.0, appropriately scaling the value for the
+   * FPGA.
+   *
+   * @param speed The speed value between -1.0 and 1.0 to set.
+   */
+  @Override
+  public void set(double speed) {
+    m_speed = speed;
+    m_dio.updateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
+    m_safetyHelper.feed();
+  }
+
+  /**
+   * Get the recently set value of the PWM.
+   *
+   * @return The most recently set value for the PWM between -1.0 and 1.0.
+   */
+  @Override
+  public double get() {
+    return m_speed;
+  }
+
+  @Override
+  public void setInverted(boolean isInverted) {
+    m_isInverted = isInverted;
+  }
+
+  @Override
+  public boolean getInverted() {
+    return m_isInverted;
+  }
+
+  /**
+   * Write out the PID value as seen in the PIDOutput base object.
+   *
+   * @param output Write out the PWM value as was found in the PIDController
+   */
+  @Override
+  public void pidWrite(double output) {
+    set(output);
+  }
+
+  /**
+   * Set the safety expiration time.
+   *
+   * @param timeout The timeout (in seconds) for this motor object
+   */
+  @Override
+  public void setExpiration(double timeout) {
+    m_safetyHelper.setExpiration(timeout);
+  }
+
+  /**
+   * Return the safety expiration time.
+   *
+   * @return The expiration time value.
+   */
+  @Override
+  public double getExpiration() {
+    return m_safetyHelper.getExpiration();
+  }
+
+  /**
+   * Check if the motor is currently alive or stopped due to a timeout.
+   *
+   * @return a bool value that is true if the motor has NOT timed out and should still be running.
+   */
+  @Override
+  public boolean isAlive() {
+    return m_safetyHelper.isAlive();
+  }
+
+  /**
+   * Stop the motor. This is called by the MotorSafetyHelper object
+   * when it has a timeout for this PWM and needs to stop it from running.
+   */
+  @Override
+  public void stopMotor() {
+    disable();
+  }
+
+  /**
+   * Check if motor safety is enabled.
+   *
+   * @return True if motor safety is enforced for this object
+   */
+  @Override
+  public boolean isSafetyEnabled() {
+    return m_safetyHelper.isSafetyEnabled();
+  }
+
+  @Override
+  public void setSafetyEnabled(boolean enabled) {
+    m_safetyHelper.setSafetyEnabled(enabled);
+  }
+
+  @Override
+  public String getDescription() {
+    return "Nidec " + getChannel();
+  }
+
+  @Override
+  public void disable() {
+    m_dio.updateDutyCycle(0.5);
+  }
+
+  /**
+   * Gets the channel number associated with the object.
+   *
+   * @return The channel number.
+   */
+  public int getChannel() {
+    return m_pwm.getChannel();
+  }
+
+  /*
+   * Live Window code, only does anything if live window is activated.
+   */
+  @Override
+  public String getSmartDashboardType() {
+    return "Nidec Brushless";
+  }
+
+  private NetworkTableEntry m_valueEntry;
+  private int m_valueListener;
+
+  @Override
+  public void initTable(NetworkTable subtable) {
+    if (subtable != null) {
+      m_valueEntry = subtable.getEntry("Value");
+      updateTable();
+    } else {
+      m_valueEntry = null;
+    }
+  }
+
+  @Override
+  public void updateTable() {
+    if (m_valueEntry != null) {
+      m_valueEntry.setDouble(get());
+    }
+  }
+
+  @Override
+  public void startLiveWindowMode() {
+    set(0); // Stop for safety
+    m_valueListener = m_valueEntry.addListener((event) -> set(event.value.getDouble()),
+        EntryListenerFlags.kImmediate | EntryListenerFlags.kNew | EntryListenerFlags.kUpdate);
+  }
+
+  @Override
+  public void stopLiveWindowMode() {
+    set(0); // Stop for safety
+    m_valueEntry.removeListener(m_valueListener);
+    m_valueListener = 0;
+  }
+}

wpilibj/src/main/java/edu/wpi/first/wpilibj/hal/FRCNetComm.java

@@ -107,6 +107,7 @@ public class FRCNetComm extends JNIWrapper {
     int kResourceType_PDP = 59;
     int kResourceType_PCM = 60;
     int kResourceType_PigeonIMU = 61;
+    int kResourceType_NidecBrushless = 62;
   }
 
   /**