mirror of
https://github.com/wpilibsuite/allwpilib
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1705b2d61c
This PR also uses the newly added -default-branch flag to generate the list of changed files with respect to the correct branch (2027).
108 lines
3.0 KiB
C++
108 lines
3.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "wpi/hardware/discrete/PWM.hpp"
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#include <utility>
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#include "wpi/hal/HALBase.h"
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#include "wpi/hal/PWM.h"
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#include "wpi/hal/Ports.h"
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#include "wpi/hal/UsageReporting.h"
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#include "wpi/system/Errors.hpp"
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#include "wpi/util/SensorUtil.hpp"
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#include "wpi/util/StackTrace.hpp"
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#include "wpi/util/sendable/SendableBuilder.hpp"
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#include "wpi/util/sendable/SendableRegistry.hpp"
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using namespace wpi;
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PWM::PWM(int channel, bool registerSendable) {
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if (!SensorUtil::CheckPWMChannel(channel)) {
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throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
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}
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auto stack = wpi::util::GetStackTrace(1);
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int32_t status = 0;
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m_handle = HAL_InitializePWMPort(channel, stack.c_str(), &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", channel);
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m_channel = channel;
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SetDisabled();
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HAL_ReportUsage("IO", channel, "PWM");
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if (registerSendable) {
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wpi::util::SendableRegistry::Add(this, "PWM", channel);
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}
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}
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PWM::~PWM() {
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if (m_handle != HAL_kInvalidHandle) {
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SetDisabled();
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}
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}
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void PWM::SetPulseTime(wpi::units::microsecond_t time) {
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int32_t status = 0;
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HAL_SetPWMPulseTimeMicroseconds(m_handle, time.value(), &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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}
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wpi::units::microsecond_t PWM::GetPulseTime() const {
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int32_t status = 0;
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double value = HAL_GetPWMPulseTimeMicroseconds(m_handle, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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return wpi::units::microsecond_t{value};
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}
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void PWM::SetDisabled() {
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int32_t status = 0;
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HAL_SetPWMPulseTimeMicroseconds(m_handle, 0, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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}
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void PWM::SetOutputPeriod(OutputPeriod mult) {
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int32_t status = 0;
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switch (mult) {
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case kOutputPeriod_20Ms:
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HAL_SetPWMOutputPeriod(m_handle, 3,
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&status); // Squelch 3 out of 4 outputs
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break;
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case kOutputPeriod_10Ms:
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HAL_SetPWMOutputPeriod(m_handle, 1,
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&status); // Squelch 1 out of 2 outputs
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break;
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case kOutputPeriod_5Ms:
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HAL_SetPWMOutputPeriod(m_handle, 0,
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&status); // Don't squelch any outputs
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break;
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default:
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throw WPILIB_MakeError(err::InvalidParameter, "OutputPeriod value {}",
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static_cast<int>(mult));
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}
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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}
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int PWM::GetChannel() const {
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return m_channel;
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}
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void PWM::SetSimDevice(HAL_SimDeviceHandle device) {
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HAL_SetPWMSimDevice(m_handle, device);
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}
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void PWM::InitSendable(wpi::util::SendableBuilder& builder) {
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builder.SetSmartDashboardType("PWM");
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builder.SetActuator(true);
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builder.AddDoubleProperty(
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"Value", [=, this] { return GetPulseTime().value(); },
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[=, this](double value) {
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SetPulseTime(wpi::units::millisecond_t{value});
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});
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}
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