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https://github.com/wpilibsuite/allwpilib
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471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
241 lines
7.1 KiB
C++
241 lines
7.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 FIRST. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <stdint.h>
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#include <hal/Types.h>
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#include <wpi/raw_ostream.h>
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#include "frc/MotorSafety.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SendableBuilder;
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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
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* are mapped to the hardware dependent values, in this case 0-2000 for the
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* FPGA. Changes are immediately sent to the FPGA, and the update occurs at the
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* next FPGA cycle (5.005ms). 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 0-2000 values as
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* follows:
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* - 2000 = maximum pulse width
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* - 1999 to 1001 = linear scaling from "full forward" to "center"
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* - 1000 = center value
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* - 999 to 2 = linear scaling from "center" to "full reverse"
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* - 1 = minimum pulse width (currently .5ms)
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* - 0 = disabled (i.e. PWM output is held low)
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*/
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class PWM : public MotorSafety, public Sendable, public SendableHelper<PWM> {
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public:
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/**
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* Represents the amount to multiply the minimum servo-pulse pwm period by.
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*/
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enum PeriodMultiplier {
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/**
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* Don't skip pulses. PWM pulses occur every 5.005 ms
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*/
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kPeriodMultiplier_1X = 1,
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/**
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* Skip every other pulse. PWM pulses occur every 10.010 ms
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*/
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kPeriodMultiplier_2X = 2,
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/**
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* Skip three out of four pulses. PWM pulses occur every 20.020 ms
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*/
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kPeriodMultiplier_4X = 4
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};
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/**
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* Allocate a PWM given a channel number.
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*
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* Checks channel value range and allocates the appropriate channel.
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* The allocation is only done to help users ensure that they don't double
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* assign channels.
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*
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* @param channel The PWM channel number. 0-9 are on-board, 10-19 are on the
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* MXP port
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*/
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explicit PWM(int channel);
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/**
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* Free the PWM channel.
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*
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* Free the resource associated with the PWM channel and set the value to 0.
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*/
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~PWM() override;
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PWM(PWM&&) = default;
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PWM& operator=(PWM&&) = default;
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// MotorSafety interface
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void StopMotor() override;
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void GetDescription(wpi::raw_ostream& desc) const override;
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/**
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* Set the PWM value directly to the hardware.
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*
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* Write a raw value to a PWM channel.
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*
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* @param value Raw PWM value.
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*/
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virtual void SetRaw(uint16_t value);
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/**
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* Get the PWM value directly from the hardware.
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*
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* Read a raw value from a PWM channel.
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*
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* @return Raw PWM control value.
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*/
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virtual uint16_t GetRaw() const;
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/**
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* Set the PWM value based on a position.
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*
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* This is intended to be used by servos.
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*
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* @pre SetMaxPositivePwm() called.
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* @pre SetMinNegativePwm() called.
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*
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* @param pos The position to set the servo between 0.0 and 1.0.
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*/
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virtual void SetPosition(double pos);
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/**
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* Get the PWM value in terms of a position.
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*
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* This is intended to be used by servos.
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*
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* @pre SetMaxPositivePwm() called.
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* @pre SetMinNegativePwm() called.
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*
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* @return The position the servo is set to between 0.0 and 1.0.
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*/
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virtual double GetPosition() const;
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/**
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* Set the PWM value based on a speed.
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*
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* This is intended to be used by speed controllers.
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*
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* @pre SetMaxPositivePwm() called.
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* @pre SetMinPositivePwm() called.
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* @pre SetCenterPwm() called.
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* @pre SetMaxNegativePwm() called.
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* @pre SetMinNegativePwm() called.
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*
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* @param speed The speed to set the speed controller between -1.0 and 1.0.
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*/
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virtual void SetSpeed(double speed);
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/**
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* Get the PWM value in terms of speed.
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*
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* This is intended to be used by speed controllers.
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*
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* @pre SetMaxPositivePwm() called.
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* @pre SetMinPositivePwm() called.
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* @pre SetMaxNegativePwm() called.
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* @pre SetMinNegativePwm() called.
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*
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* @return The most recently set speed between -1.0 and 1.0.
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*/
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virtual double GetSpeed() const;
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/**
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* Temporarily disables the PWM output. The next set call will reenable
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* the output.
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*/
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virtual void SetDisabled();
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/**
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* Slow down the PWM signal for old devices.
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*
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* @param mult The period multiplier to apply to this channel
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*/
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void SetPeriodMultiplier(PeriodMultiplier mult);
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void SetZeroLatch();
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/**
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* Optionally eliminate the deadband from a speed controller.
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*
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* @param eliminateDeadband If true, set the motor curve on the Jaguar to
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* eliminate the deadband in the middle of the range.
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* Otherwise, keep the full range without modifying
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* any values.
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*/
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void EnableDeadbandElimination(bool eliminateDeadband);
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/**
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* Set the bounds on the PWM pulse widths.
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*
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* This sets the bounds on the PWM values for a particular type of controller.
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* The values determine the upper and lower speeds as well as the deadband
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* bracket.
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*
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* @param max The max PWM pulse width in ms
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* @param deadbandMax The high end of the deadband range pulse width in ms
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* @param center The center (off) pulse width in ms
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* @param deadbandMin The low end of the deadband pulse width in ms
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* @param min The minimum pulse width in ms
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*/
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void SetBounds(double max, double deadbandMax, double center,
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double deadbandMin, double min);
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/**
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* Set the bounds on the PWM values.
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*
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* This sets the bounds on the PWM values for a particular each type of
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* controller. The values determine the upper and lower speeds as well as the
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* deadband bracket.
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*
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* @param max The Minimum pwm value
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* @param deadbandMax The high end of the deadband range
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* @param center The center speed (off)
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* @param deadbandMin The low end of the deadband range
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* @param min The minimum pwm value
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*/
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void SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
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int min);
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/**
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* Get the bounds on the PWM values.
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*
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* This Gets the bounds on the PWM values for a particular each type of
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* controller. The values determine the upper and lower speeds as well as the
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* deadband bracket.
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*
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* @param max The Minimum pwm value
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* @param deadbandMax The high end of the deadband range
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* @param center The center speed (off)
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* @param deadbandMin The low end of the deadband range
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* @param min The minimum pwm value
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*/
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void GetRawBounds(int32_t* max, int32_t* deadbandMax, int32_t* center,
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int32_t* deadbandMin, int32_t* min);
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int GetChannel() const;
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protected:
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void InitSendable(SendableBuilder& builder) override;
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private:
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int m_channel;
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hal::Handle<HAL_DigitalHandle> m_handle;
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};
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} // namespace frc
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