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https://github.com/wpilibsuite/allwpilib
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952ebb11ad
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
103 lines
3.7 KiB
C++
103 lines
3.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "SpeedController.h"
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/**
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* Interface for "smart" CAN-based speed controllers.
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* @see CANJaguar
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* @see CANTalon
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*/
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class CANSpeedController : public SpeedController {
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public:
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enum ControlMode {
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kPercentVbus = 0,
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kCurrent = 1,
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kSpeed = 2,
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kPosition = 3,
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kVoltage = 4,
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kFollower = 5, // Not supported in Jaguar.
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kMotionProfile = 6, // Not supported in Jaguar.
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};
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// Helper function for the ControlMode enum
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virtual bool IsModePID(ControlMode mode) const = 0;
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enum Faults {
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kCurrentFault = 1,
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kTemperatureFault = 2,
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kBusVoltageFault = 4,
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kGateDriverFault = 8,
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/* SRX extensions */
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kFwdLimitSwitch = 0x10,
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kRevLimitSwitch = 0x20,
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kFwdSoftLimit = 0x40,
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kRevSoftLimit = 0x80,
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};
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enum Limits { kForwardLimit = 1, kReverseLimit = 2 };
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enum NeutralMode {
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/** Use the NeutralMode that is set by the jumper wire on the CAN device */
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kNeutralMode_Jumper = 0,
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/** Stop the motor's rotation by applying a force. */
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kNeutralMode_Brake = 1,
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/** Do not attempt to stop the motor. Instead allow it to coast to a stop
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without applying resistance. */
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kNeutralMode_Coast = 2
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};
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enum LimitMode {
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/** Only use switches for limits */
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kLimitMode_SwitchInputsOnly = 0,
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/** Use both switches and soft limits */
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kLimitMode_SoftPositionLimits = 1,
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/* SRX extensions */
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/** Disable switches and disable soft limits */
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kLimitMode_SrxDisableSwitchInputs = 2,
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};
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virtual float Get() const = 0;
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virtual void Set(float value, uint8_t syncGroup = 0) = 0;
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virtual void StopMotor() = 0;
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virtual void Disable() = 0;
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virtual void SetP(double p) = 0;
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virtual void SetI(double i) = 0;
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virtual void SetD(double d) = 0;
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virtual void SetPID(double p, double i, double d) = 0;
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virtual double GetP() const = 0;
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virtual double GetI() const = 0;
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virtual double GetD() const = 0;
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virtual float GetBusVoltage() const = 0;
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virtual float GetOutputVoltage() const = 0;
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virtual float GetOutputCurrent() const = 0;
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virtual float GetTemperature() const = 0;
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virtual double GetPosition() const = 0;
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virtual double GetSpeed() const = 0;
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virtual bool GetForwardLimitOK() const = 0;
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virtual bool GetReverseLimitOK() const = 0;
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virtual uint16_t GetFaults() const = 0;
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virtual void SetVoltageRampRate(double rampRate) = 0;
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virtual uint32_t GetFirmwareVersion() const = 0;
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virtual void ConfigNeutralMode(NeutralMode mode) = 0;
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virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
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virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
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virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
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double reverseLimitPosition) = 0;
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virtual void DisableSoftPositionLimits() = 0;
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virtual void ConfigLimitMode(LimitMode mode) = 0;
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virtual void ConfigForwardLimit(double forwardLimitPosition) = 0;
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virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
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virtual void ConfigMaxOutputVoltage(double voltage) = 0;
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virtual void ConfigFaultTime(float faultTime) = 0;
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// Hold off on interface until we figure out ControlMode enums.
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// virtual void SetControlMode(ControlMode mode) = 0;
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// virtual ControlMode GetControlMode() const = 0;
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};
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