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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
115 lines
4.5 KiB
C++
115 lines
4.5 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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#ifndef PWM_H_
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#define PWM_H_
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#include "SensorBase.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITableListener.h"
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class DigitalModule;
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/**
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* Class implements the PWM generation in the FPGA.
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*
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* The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They are mapped
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* to the hardware dependent values, in this case 0-255 for the FPGA.
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* Changes are immediately sent to the FPGA, and the update occurs at the next
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* FPGA cycle. There is no delay.
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*
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* As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-255 values as follows:
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* - 255 = full "forward"
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* - 254 to 129 = linear scaling from "full forward" to "center"
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* - 128 = center value
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* - 127 to 2 = linear scaling from "center" to "full reverse"
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* - 1 = full "reverse"
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* - 0 = disabled (i.e. PWM output is held low)
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*/
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class PWM : public SensorBase, public ITableListener, public LiveWindowSendable
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{
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friend class DigitalModule;
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public:
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typedef enum {kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4} PeriodMultiplier;
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explicit PWM(uint32_t channel);
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PWM(uint8_t moduleNumber, uint32_t channel);
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virtual ~PWM();
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virtual void SetRaw(unsigned short value);
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virtual unsigned short GetRaw();
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void SetPeriodMultiplier(PeriodMultiplier mult);
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void EnableDeadbandElimination(bool eliminateDeadband);
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void SetBounds(int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin, int32_t min);
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void SetBounds(double max, double deadbandMax, double center, double deadbandMin, double min);
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uint32_t GetChannel() {return m_channel;}
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uint32_t GetModuleNumber();
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protected:
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/**
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* kDefaultPwmPeriod is in ms
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*
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* - 20ms periods (50 Hz) are the "safest" setting in that this works for all devices
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* - 20ms periods seem to be desirable for Vex Motors
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* - 20ms periods are the specified period for HS-322HD servos, but work reliably down
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* to 10.0 ms; starting at about 8.5ms, the servo sometimes hums and get hot;
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* by 5.0ms the hum is nearly continuous
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* - 10ms periods work well for Victor 884
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* - 5ms periods allows higher update rates for Luminary Micro Jaguar speed controllers.
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* Due to the shipping firmware on the Jaguar, we can't run the update period less
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* than 5.05 ms.
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*
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* kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period scaling is implemented as an
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* output squelch to get longer periods for old devices.
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*/
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static constexpr float kDefaultPwmPeriod = 5.05;
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/**
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* kDefaultPwmCenter is the PWM range center in ms
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*/
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static constexpr float kDefaultPwmCenter = 1.5;
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/**
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* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
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*/
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static const int32_t kDefaultPwmStepsDown = 1000;
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static const int32_t kPwmDisabled = 0;
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virtual void SetPosition(float pos);
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virtual float GetPosition();
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virtual void SetSpeed(float speed);
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virtual float GetSpeed();
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bool m_eliminateDeadband;
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int32_t m_maxPwm;
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int32_t m_deadbandMaxPwm;
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int32_t m_centerPwm;
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int32_t m_deadbandMinPwm;
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int32_t m_minPwm;
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void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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ITable *m_table;
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private:
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void InitPWM(uint8_t moduleNumber, uint32_t channel);
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uint32_t m_channel;
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DigitalModule *m_module;
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int32_t GetMaxPositivePwm() { return m_maxPwm; };
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int32_t GetMinPositivePwm() { return m_eliminateDeadband ? m_deadbandMaxPwm : m_centerPwm + 1; };
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int32_t GetCenterPwm() { return m_centerPwm; };
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int32_t GetMaxNegativePwm() { return m_eliminateDeadband ? m_deadbandMinPwm : m_centerPwm - 1; };
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int32_t GetMinNegativePwm() { return m_minPwm; };
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int32_t GetPositiveScaleFactor() {return GetMaxPositivePwm() - GetMinPositivePwm();} ///< The scale for positive speeds.
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int32_t GetNegativeScaleFactor() {return GetMaxNegativePwm() - GetMinNegativePwm();} ///< The scale for negative speeds.
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int32_t GetFullRangeScaleFactor() {return GetMaxPositivePwm() - GetMinNegativePwm();} ///< The scale for positions.
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};
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#endif
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