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allwpilib/wpilibc/Athena/include/CANTalon.h
Fredric Silberberg 6d854afb0e WPILib Reorganization 
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
2015-11-21 18:26:49 -05:00

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/*----------------------------------------------------------------------------*/
/* 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 <memory>
/**
* 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,
CtreMagEncoder_Relative = 6, //!< Cross The Road Electronics Magnetic Encoder in Absolute/PulseWidth Mode
CtreMagEncoder_Absolute = 7, //!< Cross The Road Electronics Magnetic Encoder in Relative/Quadrature Mode
PulseWidth = 8,
};
/**
* Depending on the sensor type, Talon can determine if sensor is plugged in ot not.
*/
enum FeedbackDeviceStatus {
FeedbackStatusUnknown = 0, //!< Sensor status could not be determined. Not all sensors can do this.
FeedbackStatusPresent = 1, //!< Sensor is present and working okay.
FeedbackStatusNotPresent = 2, //!< Sensor is not present, not plugged in, not powered, etc...
};
enum StatusFrameRate {
StatusFrameRateGeneral = 0,
StatusFrameRateFeedback = 1,
StatusFrameRateQuadEncoder = 2,
StatusFrameRateAnalogTempVbat = 3,
StatusFrameRatePulseWidthMeas = 4,
};
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 bool IsModePID(CANSpeedController::ControlMode mode) const override;
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 void SetAllowableClosedLoopErr(uint32_t allowableCloseLoopError);
virtual int GetAnalogIn() const;
virtual void SetAnalogPosition(int newPosition);
virtual int GetAnalogInRaw() const;
virtual int GetAnalogInVel() const;
virtual int GetEncPosition() const;
virtual void SetEncPosition(int);
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 int GetPulseWidthPosition() const;
virtual void SetPulseWidthPosition(int newpos);
virtual int GetPulseWidthVelocity() const;
virtual int GetPulseWidthRiseToFallUs() const;
virtual int GetPulseWidthRiseToRiseUs() const;
virtual FeedbackDeviceStatus IsSensorPresent(FeedbackDevice feedbackDevice)const;
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 void SetVoltageCompensationRampRate(double rampRate);
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;
void ConfigPeakOutputVoltage(double forwardVoltage,double reverseVoltage);
void ConfigNominalOutputVoltage(double forwardVoltage,double reverseVoltage);
/**
* Enables Talon SRX to automatically zero the Sensor Position whenever an
* edge is detected on the index signal.
* @param enable boolean input, pass true to enable feature or false to disable.
* @param risingEdge boolean input, pass true to clear the position on rising edge,
* pass false to clear the position on falling edge.
*/
void EnableZeroSensorPositionOnIndex(bool enable, bool risingEdge);
void ConfigSetParameter(uint32_t paramEnum, double value);
bool GetParameter(uint32_t paramEnum, double & dvalue) const;
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 SetClosedLoopOutputDirection(bool reverseOutput);
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<nt::Value> value, bool isNew) override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> 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<CanTalonSRX> m_impl;
std::unique_ptr<MotorSafetyHelper> 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;
/**
* Encoder CPR, counts per rotations, also called codes per revoluion.
* Default value of zero means the API behaves as it did during the 2015 season, each position
* unit is a single pulse and there are four pulses per count (4X).
* Caller can use ConfigEncoderCodesPerRev to set the quadrature encoder CPR.
*/
uint32_t m_codesPerRev = 0;
/**
* Number of turns per rotation. For example, a 10-turn pot spins ten full rotations from
* a wiper voltage of zero to 3.3 volts. Therefore knowing the
* number of turns a full voltage sweep represents is necessary for calculating rotations
* and velocity.
* A default value of zero means the API behaves as it did during the 2015 season, there are 1024
* position units from zero to 3.3V.
*/
uint32_t m_numPotTurns = 0;
/**
* Although the Talon handles feedback selection, caching the feedback selection is helpful at the API level
* for scaling into rotations and RPM.
*/
FeedbackDevice m_feedbackDevice = QuadEncoder;
static const unsigned int kDelayForSolicitedSignalsUs = 4000;
/**
* @param devToLookup FeedbackDevice to lookup the scalar for. Because Talon
* allows multiple sensors to be attached simultaneously, caller must
* specify which sensor to lookup.
* @return The number of native Talon units per rotation of the selected sensor.
* Zero if the necessary sensor information is not available.
* @see ConfigEncoderCodesPerRev
* @see ConfigPotentiometerTurns
*/
double GetNativeUnitsPerRotationScalar(FeedbackDevice devToLookup)const;
/**
* 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);
/**
* @param fullRotations double precision value representing number of rotations of selected feedback sensor.
* If user has never called the config routine for the selected sensor, then the caller
* is likely passing rotations in engineering units already, in which case it is returned
* as is.
* @see ConfigPotentiometerTurns
* @see ConfigEncoderCodesPerRev
* @return fullRotations in native engineering units of the Talon SRX firmware.
*/
int32_t ScaleRotationsToNativeUnits(FeedbackDevice devToLookup, double fullRotations) const;
/**
* @param rpm double precision value representing number of rotations per minute of selected feedback sensor.
* If user has never called the config routine for the selected sensor, then the caller
* is likely passing rotations in engineering units already, in which case it is returned
* as is.
* @see ConfigPotentiometerTurns
* @see ConfigEncoderCodesPerRev
* @return sensor velocity in native engineering units of the Talon SRX firmware.
*/
int32_t ScaleVelocityToNativeUnits(FeedbackDevice devToLookup, double rpm) const;
/**
* @param nativePos integral position of the feedback sensor in native Talon SRX units.
* If user has never called the config routine for the selected sensor, then the return
* will be in TALON SRX units as well to match the behavior in the 2015 season.
* @see ConfigPotentiometerTurns
* @see ConfigEncoderCodesPerRev
* @return double precision number of rotations, unless config was never performed.
*/
double ScaleNativeUnitsToRotations(FeedbackDevice devToLookup, int32_t nativePos) const;
/**
* @param nativeVel integral velocity of the feedback sensor in native Talon SRX units.
* If user has never called the config routine for the selected sensor, then the return
* will be in TALON SRX units as well to match the behavior in the 2015 season.
* @see ConfigPotentiometerTurns
* @see ConfigEncoderCodesPerRev
* @return double precision of sensor velocity in RPM, unless config was never performed.
*/
double ScaleNativeUnitsToRpm(FeedbackDevice devToLookup, int32_t nativeVel) const;
// LiveWindow stuff.
std::shared_ptr<ITable> m_table;
bool m_isInverted;
HasBeenMoved m_hasBeenMoved;
};
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