mirror of
https://github.com/wpilibsuite/allwpilib
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6d854afb0e
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
112 lines
3.9 KiB
C++
112 lines
3.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. 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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#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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};
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// Helper function for the ControlMode enum
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std::string GetModeName(ControlMode mode) {
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switch(mode) {
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case kPercentVbus: return "PercentVbus";
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case kCurrent: return "Current";
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case kSpeed: return "Speed";
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case kPosition: return "Position";
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case kVoltage: return "Voltage";
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case kFollower: return "Follower";
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default: return "[unknown control mode]";
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}
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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 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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