mirror of
https://github.com/wpilibsuite/allwpilib
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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.
85 lines
2.9 KiB
C++
85 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 <memory>
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#include <string>
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#include "HAL/Types.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "SensorBase.h"
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#include "tables/ITableListener.h"
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namespace frc {
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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. 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 SensorBase,
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public ITableListener,
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public LiveWindowSendable {
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public:
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enum PeriodMultiplier {
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kPeriodMultiplier_1X = 1,
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kPeriodMultiplier_2X = 2,
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kPeriodMultiplier_4X = 4
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};
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explicit PWM(int channel);
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virtual ~PWM();
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virtual void SetRaw(uint16_t value);
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virtual uint16_t GetRaw() const;
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virtual void SetPosition(double pos);
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virtual double GetPosition() const;
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virtual void SetSpeed(double speed);
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virtual double GetSpeed() const;
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virtual void SetDisabled();
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void SetPeriodMultiplier(PeriodMultiplier mult);
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void SetZeroLatch();
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void EnableDeadbandElimination(bool eliminateDeadband);
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void SetBounds(double max, double deadbandMax, double center,
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double deadbandMin, double min);
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void SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
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int min);
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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 { return m_channel; }
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protected:
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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std::shared_ptr<ITable> m_table;
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private:
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int m_channel;
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HAL_DigitalHandle m_handle;
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};
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} // namespace frc
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