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.
113 lines
3.9 KiB
C++
113 lines
3.9 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 "LiveWindow/LiveWindowSendable.h"
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#include "SensorBase.h"
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#include "simulation/SimContinuousOutput.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 0-255 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
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* 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,
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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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void SetPeriodMultiplier(PeriodMultiplier mult);
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void EnableDeadbandElimination(bool eliminateDeadband);
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void SetBounds(int max, int deadbandMax, int center, int deadbandMin,
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int min);
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void SetBounds(double max, double deadbandMax, double center,
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double deadbandMin, double min);
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int GetChannel() const { return m_channel; }
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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
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* 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
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* reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes
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* hums and get hot; 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
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* controllers. Due to the shipping firmware on the Jaguar, we can't run
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* the update period less than 5.05 ms.
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*
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* kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period
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* scaling is implemented as an output squelch to get longer periods for old
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* devices.
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*/
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static const double kDefaultPwmPeriod;
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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 const double kDefaultPwmCenter;
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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 int kDefaultPwmStepsDown;
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static const int kPwmDisabled;
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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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bool m_eliminateDeadband;
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int m_centerPwm;
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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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SimContinuousOutput* impl;
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};
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} // namespace frc
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