There was a lot of duplicated code between all 7 PWM speed controllers.
This moves all the duplicated code down to a base class, that will make
it easier to add speed controllers in future years if needed again. Also
if we need to add a method to all speed controllers, we only have to do
it in 1 place, and not 7.
Change-Id: I25eb1d097c0f5f7dbd7656db2f4a30d006d50f98
For Java, this is as simple as just adding it, as all motors already
have an implementation from MotorSafety that is correctly resolved. For
C++, I had to override StopMotor in the classes that descend from
SafePWM and explicitly call the SafePWM version. RobotDrive now calls
StopMotor on each of its SpeedControllers, instead of calling Disable or
setting the motor to 0.0 as it was doing previously.
Additional small formatting corrections to the previous commit starting
this were added.
Change-Id: Ie94565394927a910ce74bc628670ac3d658d8df9
Fixes artf4809.
In both C++ and Java, error messages are being sent to both the console
(via stdout/stderr) and being reported via the HAL. We don't want to
remove the stdout/stderr reporting at present because users debugging only
via netconsole (e.g. using riolog) won't see the HAL-reported errors. Until
there's an alternative means to getting the HAL-reported errors to those
users, instead store the previous 5 error messages and don't duplicate them
more often than once per second.
Changes the error reporting from setErrorData() to sendError(), which
improves driver station error reporting. The "location" in C++ is given as
the immediate caller (e.g. the WPILib function). The "location" in Java is
given as the first user function in the call stack. Note the full call stack
is provided in both instances.
Change-Id: I590dd63dcb66825301ebb260aff00cd8d7d501ed
Fixed API in the following classes:
- RobotDrive
- AnalogGyro
moved some files from Athena the shared that are independant of platform
Renamed Gyro to AnalogGyro
added smart pointer constructors to RobotDrive
Change-Id: If8a1bde5aed77fd60869d1993c302dd519bc8848
The GetSmartDashboardType() function defined by GyroBase was returning the
correct "Gyro", but the overrides in AnalogGyro and ADXRS450_Gyro were
incorrectly changing this, resulting in SmartDashboard not recognizing these
as being gyros.
Additionally, AddSensor in the C++ AnalogGyro was setting the name to Gyro
rather than AnalogGyro.
Change-Id: Ib2e31cd2712cc2bc26c8082ed760175d0ee80fb6
Years update, references to WIND_BASE were removed, and WPILib license was
moved to the root directory of the project.
If there was already a comment block, a year range through 2016 was created
using the first year in the comment. If there was no comment block, a block
with just the year 2016 was added.
Comments were not added to files from external sources (NI, CTRE).
Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
Also remove m_mutex. It's no longer necessary because we ensure the automatic
thread is stopped while the set is being accessed.
Change-Id: I5994bbeba022a2ebd9e166fca369ebc8c229975c
This allows both greater than 72 minute (2^32 * 1 us) timeouts and also
gracefully handles notifiers across the FPGA time counter rollover.
Change-Id: Ibde0b903155f60b618b0ca4d5f8f6dd49f90b020
Also provide templated varags constructor for backwards compatibility and
ease of use.
Update PIDController to use new constructor, eliminating static function
CallCalculate().
Change-Id: Iaeae95aa5953f294f5debc5fc569ef6d4684f223
This removes redundant queue code from the C++ library.
The old queue code is still needed by simulation, and as the delta between
the simulation and athena headers has grown significantly, this splits the
header into two separate files.
Change-Id: Ia76b38337a25eb9d4890b3eb9bd76b1cbda7f285
- CANJaguar also touched up to report it can't do the new control mode (just like with follower).
- New third optional param for talon c'tor to speed up enable control frame.
- The pulse width routines have been moved to where the script generator puts them. No actual changes there but should help Peter integrate the latest code generator.
Last feature additions for TalonSRX HAL for FRC2015-FRC-2016 season.
-HAL driver uses control_5 frame if firmware supports it. This allows teams to see/confirm control settings taking effect before enabling the robot.
For example selecting the sensor type and going to web-dash to check sensor values now works without having to enable the robot.
-Motion profile HAL routines added. Tested on Single-Speed Double reduction (with slave Talon too).
-Start moving ctre frame defs into a new common header (better then shoving a bunch of struct defs at top of module).
-New child class in CANTalonSRX for buffering motion profile points. Not sure it would be best to leave it as is or make another module. It's trivial now so I thought that was acceptable, (in future it will likely possess compression strategies => no longer trivial).
Change-Id: I803680c1a6669ca3f5157d7875942def6f75b540
The previous commit missed the MindsensorsSD540 value.
Remove wpilibc/Athena/include/NetworkCommunication/UsageReporting.h copy; it
was not actually used (all references except the one in DriverStation.cpp
had been commented out), and has been superseded by the one in HAL.hpp.
Change-Id: I51e2eafa85ee5e40050d702aa0bf69171e887a60
This is a digital gyro interfaced via SPI. Uses the HAL SPI accumulator.
Basic code function successfully tested on a ADXRS453.
Change-Id: Ibc0c7db9964c041fb1e04af4db17e3310ea83c04
This is a major restructuring of the WPILib repository to simply build
procedures and remove the remnants of Maven from everything except the
eclipse plugins. Gradle files have been largely simplified or rewritten,
taking advantage of splitting up parts of the build into separate build
files for ease of reading.
The eclipse plugins are now in a separate project, as is ntcore. All
dependencies are resolved via Maven dependencies, with the
Jenkins-maintained WPILib repo. Project structures have also been
simplified: we no longer have separate subprojects inside wpilibc and
wpilibj. Where possible, these changes hav been done with git renames,
to make sure we still have full history for all repositories. Other
unrelated subprojects have also been broken out: OutlineViewer is now a
separate project.
Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
