Add SPARK and SD540 motor controllers

Change-Id: I33f9c588b6d535b1f274d211563ef146f34439b1

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); }