Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-04 03:11:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fixed C++ side of artf2604 in FRCSim - synchronized C++ codebases, updated examples.

Browse Source 
Change-Id: I2fdc9deb4c8e249448dcbda4214fd900c2bc4ea8
This commit is contained in:
Colby Skeggs
2014-06-24 10:37:02 -07:00
parent 02e19a0147
commit ff597e6ac4
72 changed files with 763 additions and 861 deletions
Download Patch File Download Diff File Expand all files Collapse all files

40
wpilibc/wpilibC++Sim/src/Victor.cpp
View File

@@ -16,40 +16,27 @@
* Victor 884 controllers as well 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 Victor 884 User Manual available from IFI.
*
*
* - 206 = full "forward"
* - 131 = the "high end" of the deadband range
* - 128 = center of the deadband range (off)
* - 125 = the "low end" of the deadband range
* - 56 = full "reverse"
*/
void Victor::InitVictor(int slot, int channel) {
char buffer[50];
int n = sprintf(buffer, "pwm/%d/%d", slot, channel);
impl = new SimContinuousOutput(buffer);
void Victor::InitVictor(int channel) {
char buffer[50];
int n = sprintf(buffer, "pwm/1/%d", channel);
impl = new SimContinuousOutput(buffer);
// TODO: LiveWindow::GetInstance()->AddActuator("Victor", slot, channel, this);
}
/**
* Constructor that assumes the default digital module.
*
* @param channel The PWM channel on the digital module that the Victor is attached to.
* @param channel The PWM channel that the Victor is attached to.
*/
Victor::Victor(uint32_t channel)
{
InitVictor(1, channel);
}
/**
* Constructor that specifies the digital module.
*
* @param moduleNumber The digital module (1 or 2).
* @param channel The PWM channel on the digital module that the Victor is attached to (1..10).
*/
Victor::Victor(uint8_t moduleNumber, uint32_t channel)
{
InitVictor(moduleNumber, channel);
InitVictor(channel);
}
Victor::~Victor()
@@ -57,8 +44,8 @@ Victor::~Victor()
}
/**
* Set the PWM value.
*
* 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.
*
@@ -72,7 +59,7 @@ void Victor::Set(float speed, uint8_t syncGroup)
/**
* Get the recently set value of the PWM.
*
*
* @return The most recently set value for the PWM between -1.0 and 1.0.
*/
float Victor::Get()
@@ -90,11 +77,10 @@ void Victor::Disable()
/**
* 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 Victor::PIDWrite(float output)
void Victor::PIDWrite(float output)
{
Set(output);
}