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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
105 lines
3.6 KiB
C++
105 lines
3.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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 "SpeedController.h"
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namespace frc {
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/**
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* Interface for "smart" CAN-based speed controllers.
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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,
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kMotionProfile = 6,
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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 double Get() const = 0;
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virtual void Set(double value) = 0;
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virtual void StopMotor() = 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 double GetBusVoltage() const = 0;
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virtual double GetOutputVoltage() const = 0;
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virtual double GetOutputCurrent() const = 0;
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virtual double 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 int 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(double 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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} // namespace frc
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