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0122086d23
This commit squashes all of Patrick's eleven commits into one so that things are a bit more sane. The original commit messages and change ids (for gerrit) can be found below. Testing Motor Inversion Feature (Java tests only so far) Change-Id: I44cd9b5a3fe066e1071316831dde14bff5ec3bd9 Test 2 of java testing for Motor Inverting Change-Id: I96cc0534bb1d28a70d10c582f0b40ea3a2d83cab Added another test to try to track down issue with InvertingMotor jaguar and Talon Change-Id: I9b5292315c93ec0d568d53a6bcdac5b998a6d857 More Testing on the Inverting motors with jaguars and talons. Change-Id: I896210a54903e3c0af68e8c41360c165cf9c3122 Added C++ integration Tests for the motor inversion. Change-Id: I81af5d4aab78d755340d99608b838046bf7ddda1 C++ tests for Motor Inversion now without crashing Change-Id: Ifdecdbfc1aeb18aafb2b4c63709b27636074a274 More testing of inverted motors (now with c++ tests) Talon seems not to be working on test rig Also added a CANJaguartest file in java since was missing Currently porting the CANJaguar tests from c++ to java Change-Id: Ib578d6ee1256ac31ddf20603aa6f24adde08065b Another attempt at adding java tests for can jaguar inversion. Change-Id: I971a886a4e555ada5bd15a814094da2a1eb5c8e1 Minor changes and attempt to rerun tests after yesterday's jenkins crash. Change-Id: I7ed0904d4243499c3246e9c39e5493d0d9c962c5 All motor inversion tests should be working now. Talon on the test rig has been fixed. Change-Id: I20bd6d7486b758ce1ce47ac799150475b3152b6f Updated Inversion tests again. Should work this time. (worked on the test rig prior) Change-Id: Ifdf222d5e5733fe802f29e7d939b72e84972e8da Added tests for motor inversions. This commit squashes all of Patrick's eleven commits into one so that things are a bit more sane. The original commit messages and change ids (for gerrit) can be found below. Testing Motor Inversion Feature (Java tests only so far) Change-Id: I44cd9b5a3fe066e1071316831dde14bff5ec3bd9 Test 2 of java testing for Motor Inverting Change-Id: I96cc0534bb1d28a70d10c582f0b40ea3a2d83cab Added another test to try to track down issue with InvertingMotor jaguar and Talon Change-Id: I9b5292315c93ec0d568d53a6bcdac5b998a6d857 More Testing on the Inverting motors with jaguars and talons. Change-Id: I896210a54903e3c0af68e8c41360c165cf9c3122 Added C++ integration Tests for the motor inversion. Change-Id: I81af5d4aab78d755340d99608b838046bf7ddda1 C++ tests for Motor Inversion now without crashing Change-Id: Ifdecdbfc1aeb18aafb2b4c63709b27636074a274 More testing of inverted motors (now with c++ tests) Talon seems not to be working on test rig Also added a CANJaguartest file in java since was missing Currently porting the CANJaguar tests from c++ to java Change-Id: Ib578d6ee1256ac31ddf20603aa6f24adde08065b Another attempt at adding java tests for can jaguar inversion. Change-Id: I971a886a4e555ada5bd15a814094da2a1eb5c8e1 Minor changes and attempt to rerun tests after yesterday's jenkins crash. Change-Id: I7ed0904d4243499c3246e9c39e5493d0d9c962c5 All motor inversion tests should be working now. Talon on the test rig has been fixed. Change-Id: I20bd6d7486b758ce1ce47ac799150475b3152b6f Updated Inversion tests again. Should work this time. (worked on the test rig prior) Change-Id: Ifdf222d5e5733fe802f29e7d939b72e84972e8da
96 lines
2.4 KiB
C++
96 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "Jaguar.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Common initialization code called by all constructors.
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*/
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void Jaguar::InitJaguar()
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{
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/**
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* Input profile defined by Luminary Micro.
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*
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* Full reverse ranges from 0.671325ms to 0.6972211ms
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* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
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* Neutral ranges from 1.4482078ms to 1.5517922ms
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* Proportional forward ranges from 1.5517922ms to 2.3027789ms
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* Full forward ranges from 2.3027789ms to 2.328675ms
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*/
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SetBounds(2.31, 1.55, 1.507, 1.454, .697);
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SetPeriodMultiplier(kPeriodMultiplier_1X);
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SetRaw(m_centerPwm);
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SetZeroLatch();
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HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel());
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LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
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m_isInverted = false;
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}
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/**
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* Constructor for a Jaguar connected via PWM
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* @param channel The PWM channel that the Jaguar is attached to. 0-9 are on-board, 10-19 are on the MXP port
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*/
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Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
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{
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InitJaguar();
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}
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Jaguar::~Jaguar()
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{
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}
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/**
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* Set the PWM value.
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*
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* The PWM value is set using a range of -1.0 to 1.0, appropriately
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* scaling the value for the FPGA.
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*
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* @param speed The speed value between -1.0 and 1.0 to set.
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* @param syncGroup Unused interface.
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*/
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void Jaguar::Set(float speed, uint8_t syncGroup)
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{
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SetSpeed(m_isInverted ? -speed : speed);
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}
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/**
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* Get the recently set value of the PWM.
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*
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* @return The most recently set value for the PWM between -1.0 and 1.0.
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*/
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float Jaguar::Get() const
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{
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return GetSpeed();
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}
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/**
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* Common interface for disabling a motor.
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*/
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void Jaguar::Disable()
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{
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SetRaw(kPwmDisabled);
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}
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/**
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* common interface for inverting direction of a speed controller
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* @param isInverted The state of inversion true is inverted
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*/
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void Jaguar::SetInverted(bool isInverted){
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m_isInverted = isInverted;
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}
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/**
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* Write out the PID value as seen in the PIDOutput base object.
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*
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* @param output Write out the PWM value as was found in the PIDController
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*/
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void Jaguar::PIDWrite(float output)
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{
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Set(output);
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}
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