mirror of
https://github.com/wpilibsuite/allwpilib
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235 lines
6.9 KiB
C++
235 lines
6.9 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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#pragma once
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#include <stdint.h>
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#include <hal/Types.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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namespace frc {
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class AddressableLED;
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class DMA;
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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 0.5ms)
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* - 0 = disabled (i.e. PWM output is held low)
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*/
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class PWM : public wpi::Sendable, public wpi::SendableHelper<PWM> {
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public:
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friend class AddressableLED;
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friend class DMA;
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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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* @param registerSendable If true, adds this instance to SendableRegistry
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* and LiveWindow
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*/
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explicit PWM(int channel, bool registerSendable = true);
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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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/**
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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(wpi::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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