Add SPARK and SD540 motor controllers

Change-Id: I33f9c588b6d535b1f274d211563ef146f34439b1

wpilibc/Athena/include/SD540.h

@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "SafePWM.h"
+#include "SpeedController.h"
+#include "PIDOutput.h"
+
+/**
+ * Mindsensors SD540 Speed Controller
+ */
+class SD540 : public SafePWM, public SpeedController {
+ public:
+  explicit SD540(uint32_t channel);
+  virtual ~SD540() = default;
+  virtual void Set(float value, uint8_t syncGroup = 0) override;
+  virtual float Get() const override;
+  virtual void Disable() override;
+
+  virtual void PIDWrite(float output) override;
+
+  virtual void SetInverted(bool isInverted) override;
+  virtual bool GetInverted() const override;
+
+ private:
+  bool m_isInverted = false;
+};

wpilibc/Athena/include/Spark.h

@@ -0,0 +1,31 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "SafePWM.h"
+#include "SpeedController.h"
+#include "PIDOutput.h"
+
+/**
+ * REV Robotics Speed Controller
+ */
+class Spark : public SafePWM, public SpeedController {
+ public:
+  explicit Spark(uint32_t channel);
+  virtual ~Spark() = default;
+  virtual void Set(float value, uint8_t syncGroup = 0) override;
+  virtual float Get() const override;
+  virtual void Disable() override;
+
+  virtual void PIDWrite(float output) override;
+
+  virtual void SetInverted(bool isInverted) override;
+  virtual bool GetInverted() const override;
+
+ private:
+  bool m_isInverted = false;
+};

wpilibc/Athena/include/WPILib.h

@@ -71,6 +71,7 @@
 #include "Resource.h"
 #include "RobotBase.h"
 #include "RobotDrive.h"
+#include "SD540.h"
 #include "SensorBase.h"
 #include "SerialPort.h"
 #include "Servo.h"
@@ -78,6 +79,7 @@
 #include "SmartDashboard/SendableChooser.h"
 #include "SmartDashboard/SmartDashboard.h"
 #include "Solenoid.h"
+#include "Spark.h"
 #include "SpeedController.h"
 #include "SPI.h"
 #include "Talon.h"

wpilibc/Athena/src/SD540.cpp

@@ -0,0 +1,88 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "SD540.h"
+
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Note that the SD540 uses the following bounds for PWM values. These values
+ * should work reasonably well for
+ * most controllers, but if users experience issues such as asymmetric behavior
+ * around
+ * the deadband or inability to saturate the controller in either direction,
+ * calibration is recommended.
+ * The calibration procedure can be found in the SD540 User Manual available
+ * from Mindsensors.
+ *
+ *   2.05ms = full "forward"
+ *   1.55ms = the "high end" of the deadband range
+ *   1.50ms = center of the deadband range (off)
+ *   1.44ms = the "low end" of the deadband range
+ *   0.94ms = full "reverse"
+ */
+
+/**
+ * Constructor for a SD540
+ * @param channel The PWM channel that the SD540 is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+SD540::SD540(uint32_t channel) : SafePWM(channel) {
+  SetBounds(2.05, 1.55, 1.50, 1.44, .94);
+  SetPeriodMultiplier(kPeriodMultiplier_1X);
+  SetRaw(m_centerPwm);
+  SetZeroLatch();
+
+  HALReport(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel());
+  LiveWindow::GetInstance()->AddActuator("SD540", GetChannel(), this);
+}
+
+/**
+ * Set the PWM value.
+ *
+ * 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.
+ * @param syncGroup Unused interface.
+ */
+void SD540::Set(float speed, uint8_t syncGroup) {
+  SetSpeed(m_isInverted ? -speed : speed);
+}
+
+/**
+ * Get the recently set value of the PWM.
+ *
+ * @return The most recently set value for the PWM between -1.0 and 1.0.
+ */
+float SD540::Get() const { return GetSpeed(); }
+
+/**
+ * Common interface for inverting direction of a speed controller.
+ * @param isInverted The state of inversion, true is inverted.
+ */
+void SD540::SetInverted(bool isInverted) { m_isInverted = isInverted; }
+
+/**
+ * Common interface for the inverting direction of a speed controller.
+ *
+ * @return isInverted The state of inversion, true is inverted.
+ *
+ */
+bool SD540::GetInverted() const { return m_isInverted; }
+
+/**
+ * Common interface for disabling a motor.
+ */
+void SD540::Disable() { SetRaw(kPwmDisabled); }
+
+/**
+ * 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 SD540::PIDWrite(float output) { Set(output); }

wpilibc/Athena/src/Spark.cpp

@@ -0,0 +1,88 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
+/*----------------------------------------------------------------------------*/
+
+#include "Spark.h"
+
+#include "LiveWindow/LiveWindow.h"
+
+/**
+ * Note that the Spark uses the following bounds for PWM values. These values
+ * should work reasonably well for
+ * most controllers, but if users experience issues such as asymmetric behavior
+ * around
+ * the deadband or inability to saturate the controller in either direction,
+ * calibration is recommended.
+ * The calibration procedure can be found in the Spark User Manual available
+ * from REV Robotics.
+ *
+ *   2.003ms = full "forward"
+ *   1.55ms = the "high end" of the deadband range
+ *   1.50ms = center of the deadband range (off)
+ *   1.46ms = the "low end" of the deadband range
+ *   0.999ms = full "reverse"
+ */
+
+/**
+ * Constructor for a Spark
+ * @param channel The PWM channel that the Spark is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+Spark::Spark(uint32_t channel) : SafePWM(channel) {
+  SetBounds(2.003, 1.55, 1.50, 1.46, .999);
+  SetPeriodMultiplier(kPeriodMultiplier_1X);
+  SetRaw(m_centerPwm);
+  SetZeroLatch();
+
+  HALReport(HALUsageReporting::kResourceType_RevSPARK, GetChannel());
+  LiveWindow::GetInstance()->AddActuator("Spark", GetChannel(), this);
+}
+
+/**
+ * Set the PWM value.
+ *
+ * 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.
+ * @param syncGroup Unused interface.
+ */
+void Spark::Set(float speed, uint8_t syncGroup) {
+  SetSpeed(m_isInverted ? -speed : speed);
+}
+
+/**
+ * Get the recently set value of the PWM.
+ *
+ * @return The most recently set value for the PWM between -1.0 and 1.0.
+ */
+float Spark::Get() const { return GetSpeed(); }
+
+/**
+ * Common interface for inverting direction of a speed controller.
+ * @param isInverted The state of inversion, true is inverted.
+ */
+void Spark::SetInverted(bool isInverted) { m_isInverted = isInverted; }
+
+/**
+ * Common interface for the inverting direction of a speed controller.
+ *
+ * @return isInverted The state of inversion, true is inverted.
+ *
+ */
+bool Spark::GetInverted() const { return m_isInverted; }
+
+/**
+ * Common interface for disabling a motor.
+ */
+void Spark::Disable() { SetRaw(kPwmDisabled); }
+
+/**
+ * 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 Spark::PIDWrite(float output) { Set(output); }

wpilibj/src/athena/java/edu/wpi/first/wpilibj/SD540.java

@@ -0,0 +1,123 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2012. 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.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
+import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+
+/**
+ * Mindsensors SD540 Speed Controller
+ */
+public class SD540 extends SafePWM implements SpeedController {
+  private boolean isInverted = false;
+
+  /**
+   * Common initialization code called by all constructors.
+   *
+   * Note that the SD540 uses the following bounds for PWM values. These
+   * values should work reasonably well for most controllers, but if users
+   * experience issues such as asymmetric behavior around the deadband or
+   * inability to saturate the controller in either direction, calibration is
+   * recommended. The calibration procedure can be found in the SD540 User
+   * Manual available from Mindsensors.
+   *
+   * - 2.05ms = full "forward" - 1.55ms = the "high end" of the deadband range
+   * - 1.50ms = center of the deadband range (off) - 1.44ms = the "low end" of
+   * the deadband range - .94ms = full "reverse"
+   */
+  protected void initSD540() {
+    setBounds(2.05, 1.55, 1.50, 1.44, .94);
+    setPeriodMultiplier(PeriodMultiplier.k1X);
+    setRaw(m_centerPwm);
+    setZeroLatch();
+
+    LiveWindow.addActuator("SD540", getChannel(), this);
+    UsageReporting.report(tResourceType.kResourceType_MindsensorsSD540, getChannel());
+  }
+
+  /**
+   * Constructor.
+   *
+   * @param channel The PWM channel that the SD540 is attached to. 0-9 are
+   *        on-board, 10-19 are on the MXP port
+   */
+  public SD540(final int channel) {
+    super(channel);
+    initSD540();
+  }
+
+  /**
+   * Set the PWM value.
+   *
+   * @deprecated For compatibility with CANJaguar
+   *
+   *             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 to set. Value should be between -1.0 and 1.0.
+   * @param syncGroup The update group to add this Set() to, pending
+   *        UpdateSyncGroup(). If 0, update immediately.
+   */
+  public void set(double speed, byte syncGroup) {
+    setSpeed(isInverted ? -speed : speed);
+    Feed();
+  }
+
+  /**
+   * Set the PWM value.
+   *
+   * 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.
+   */
+  public void set(double speed) {
+    setSpeed(isInverted ? -speed : speed);
+    Feed();
+  }
+
+  /**
+   * Common interface for inverting direction of a speed controller
+   *
+   * @param isInverted The state of inversion true is inverted
+   */
+  @Override
+  public void setInverted(boolean isInverted) {
+    this.isInverted = isInverted;
+  }
+
+  /**
+   * Common interface for the inverting direction of a speed controller.
+   *
+   * @return isInverted The state of inversion, true is inverted.
+   *
+   */
+  @Override
+  public boolean getInverted() {
+    return this.isInverted;
+  }
+
+  /**
+   * Get the recently set value of the PWM.
+   *
+   * @return The most recently set value for the PWM between -1.0 and 1.0.
+   */
+  public double get() {
+    return getSpeed();
+  }
+
+  /**
+   * 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
+   */
+  public void pidWrite(double output) {
+    set(output);
+  }
+}

wpilibj/src/athena/java/edu/wpi/first/wpilibj/Spark.java

@@ -0,0 +1,123 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2012. 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.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType;
+import edu.wpi.first.wpilibj.communication.UsageReporting;
+import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+
+/**
+ * REV Robotics SPARK Speed Controller
+ */
+public class Spark extends SafePWM implements SpeedController {
+  private boolean isInverted = false;
+
+  /**
+   * Common initialization code called by all constructors.
+   *
+   * Note that the SPARK uses the following bounds for PWM values. These
+   * values should work reasonably well for most controllers, but if users
+   * experience issues such as asymmetric behavior around the deadband or
+   * inability to saturate the controller in either direction, calibration is
+   * recommended. The calibration procedure can be found in the Spark User
+   * Manual available from REV Robotics.
+   *
+   * - 2.003ms = full "forward" - 1.55ms = the "high end" of the deadband range
+   * - 1.50ms = center of the deadband range (off) - 1.46ms = the "low end" of
+   * the deadband range - .999ms = full "reverse"
+   */
+  protected void initSpark() {
+    setBounds(2.003, 1.55, 1.50, 1.46, .999);
+    setPeriodMultiplier(PeriodMultiplier.k1X);
+    setRaw(m_centerPwm);
+    setZeroLatch();
+
+    LiveWindow.addActuator("Spark", getChannel(), this);
+    UsageReporting.report(tResourceType.kResourceType_RevSPARK, getChannel());
+  }
+
+  /**
+   * Constructor.
+   *
+   * @param channel The PWM channel that the SPARK is attached to. 0-9 are
+   *        on-board, 10-19 are on the MXP port
+   */
+  public Spark(final int channel) {
+    super(channel);
+    initSpark();
+  }
+
+  /**
+   * Set the PWM value.
+   *
+   * @deprecated For compatibility with CANJaguar
+   *
+   *             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 to set. Value should be between -1.0 and 1.0.
+   * @param syncGroup The update group to add this Set() to, pending
+   *        UpdateSyncGroup(). If 0, update immediately.
+   */
+  public void set(double speed, byte syncGroup) {
+    setSpeed(isInverted ? -speed : speed);
+    Feed();
+  }
+
+  /**
+   * Set the PWM value.
+   *
+   * 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.
+   */
+  public void set(double speed) {
+    setSpeed(isInverted ? -speed : speed);
+    Feed();
+  }
+
+  /**
+   * Common interface for inverting direction of a speed controller
+   *
+   * @param isInverted The state of inversion true is inverted
+   */
+  @Override
+  public void setInverted(boolean isInverted) {
+    this.isInverted = isInverted;
+  }
+
+  /**
+   * Common interface for the inverting direction of a speed controller.
+   *
+   * @return isInverted The state of inversion, true is inverted.
+   *
+   */
+  @Override
+  public boolean getInverted() {
+    return this.isInverted;
+  }
+
+  /**
+   * Get the recently set value of the PWM.
+   *
+   * @return The most recently set value for the PWM between -1.0 and 1.0.
+   */
+  public double get() {
+    return getSpeed();
+  }
+
+  /**
+   * 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
+   */
+  public void pidWrite(double output) {
+    set(output);
+  }
+}