Add Nidec Brushless motor. (#705)

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;
   }
 
   /**