/*----------------------------------------------------------------------------*/ /* Copyright (c) FIRST 2014. 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 "CANSpeedController.h" #include "PIDOutput.h" #include "PIDSource.h" #include "PIDInterface.h" #include "HAL/CanTalonSRX.h" #include "MotorSafetyHelper.h" #include "LiveWindow/LiveWindowSendable.h" #include "tables/ITable.h" #include /** * CTRE Talon SRX Speed Controller with CAN Control */ class CANTalon : public MotorSafety, public CANSpeedController, public ErrorBase, public LiveWindowSendable, public ITableListener, public PIDSource, public PIDInterface { public: enum FeedbackDevice { QuadEncoder = 0, AnalogPot = 2, AnalogEncoder = 3, EncRising = 4, EncFalling = 5 }; enum StatusFrameRate { StatusFrameRateGeneral = 0, StatusFrameRateFeedback = 1, StatusFrameRateQuadEncoder = 2, StatusFrameRateAnalogTempVbat = 3, }; explicit CANTalon(int deviceNumber); explicit CANTalon(int deviceNumber, int controlPeriodMs); DEFAULT_MOVE_CONSTRUCTOR(CANTalon); virtual ~CANTalon(); // PIDOutput interface virtual void PIDWrite(float output) override; // PIDSource interface virtual double PIDGet() override; // MotorSafety interface virtual void SetExpiration(float timeout) override; virtual float GetExpiration() const override; virtual bool IsAlive() const override; virtual void StopMotor() override; virtual void SetSafetyEnabled(bool enabled) override; virtual bool IsSafetyEnabled() const override; virtual void GetDescription(std::ostringstream& desc) const override; // CANSpeedController interface virtual float Get() const override; virtual void Set(float value, uint8_t syncGroup = 0) override; virtual void Reset() override; virtual void SetSetpoint(float value) override; virtual void Disable() override; virtual void EnableControl(); virtual void Enable() override; virtual void SetP(double p) override; virtual void SetI(double i) override; virtual void SetD(double d) override; void SetF(double f); void SetIzone(unsigned iz); virtual void SetPID(double p, double i, double d) override; virtual void SetPID(double p, double i, double d, double f); virtual double GetP() const override; virtual double GetI() const override; virtual double GetD() const override; virtual double GetF() const; virtual float GetBusVoltage() const override; virtual float GetOutputVoltage() const override; virtual float GetOutputCurrent() const override; virtual float GetTemperature() const override; void SetPosition(double pos); virtual double GetPosition() const override; virtual double GetSpeed() const override; virtual int GetClosedLoopError() const; virtual int GetAnalogIn() const; virtual int GetAnalogInRaw() const; virtual int GetAnalogInVel() const; virtual int GetEncPosition() const; virtual int GetEncVel() const; int GetPinStateQuadA() const; int GetPinStateQuadB() const; int GetPinStateQuadIdx() const; int IsFwdLimitSwitchClosed() const; int IsRevLimitSwitchClosed() const; int GetNumberOfQuadIdxRises() const; void SetNumberOfQuadIdxRises(int rises); virtual bool GetForwardLimitOK() const override; virtual bool GetReverseLimitOK() const override; virtual uint16_t GetFaults() const override; uint16_t GetStickyFaults() const; void ClearStickyFaults(); virtual void SetVoltageRampRate(double rampRate) override; virtual uint32_t GetFirmwareVersion() const override; virtual void ConfigNeutralMode(NeutralMode mode) override; virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override; virtual void ConfigPotentiometerTurns(uint16_t turns) override; virtual void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition) override; virtual void DisableSoftPositionLimits() override; virtual void ConfigLimitMode(LimitMode mode) override; virtual void ConfigForwardLimit(double forwardLimitPosition) override; virtual void ConfigReverseLimit(double reverseLimitPosition) override; /** * Change the fwd limit switch setting to normally open or closed. * Talon will disable momentarilly if the Talon's current setting * is dissimilar to the caller's requested setting. * * Since Talon saves setting to flash this should only affect * a given Talon initially during robot install. * * @param normallyOpen true for normally open. false for normally closed. */ void ConfigFwdLimitSwitchNormallyOpen(bool normallyOpen); /** * Change the rev limit switch setting to normally open or closed. * Talon will disable momentarilly if the Talon's current setting * is dissimilar to the caller's requested setting. * * Since Talon saves setting to flash this should only affect * a given Talon initially during robot install. * * @param normallyOpen true for normally open. false for normally closed. */ void ConfigRevLimitSwitchNormallyOpen(bool normallyOpen); virtual void ConfigMaxOutputVoltage(double voltage) override; virtual void ConfigFaultTime(float faultTime) override; virtual void SetControlMode(ControlMode mode); void SetFeedbackDevice(FeedbackDevice device); void SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs); virtual ControlMode GetControlMode() const; void SetSensorDirection(bool reverseSensor); void SetCloseLoopRampRate(double rampRate); void SelectProfileSlot(int slotIdx); int GetIzone() const; int GetIaccum() const; void ClearIaccum(); int GetBrakeEnableDuringNeutral() const; bool IsControlEnabled() const; bool IsEnabled() const override; double GetSetpoint() const override; // LiveWindow stuff. void ValueChanged(ITable* source, llvm::StringRef key, std::shared_ptr value, bool isNew) override; void UpdateTable() override; void StartLiveWindowMode() override; void StopLiveWindowMode() override; std::string GetSmartDashboardType() const override; void InitTable(std::shared_ptr subTable) override; std::shared_ptr GetTable() const override; // SpeedController overrides virtual void SetInverted(bool isInverted) override; virtual bool GetInverted() const override; private: // Values for various modes as is sent in the CAN packets for the Talon. enum TalonControlMode { kThrottle = 0, kFollowerMode = 5, kVoltageMode = 4, kPositionMode = 1, kSpeedMode = 2, kCurrentMode = 3, kDisabled = 15 }; int m_deviceNumber; std::unique_ptr m_impl; std::unique_ptr m_safetyHelper; int m_profile = 0; // Profile from CANTalon to use. Set to zero until we can // actually test this. bool m_controlEnabled = true; ControlMode m_controlMode = kPercentVbus; TalonControlMode m_sendMode; double m_setPoint = 0; static const unsigned int kDelayForSolicitedSignalsUs = 4000; /** * Fixup the sendMode so Set() serializes the correct demand value. * Also fills the modeSelecet in the control frame to disabled. * @param mode Control mode to ultimately enter once user calls Set(). * @see Set() */ void ApplyControlMode(CANSpeedController::ControlMode mode); // LiveWindow stuff. std::shared_ptr m_table; bool m_isInverted; HasBeenMoved m_hasBeenMoved; };