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commit a3ccfab0a42414aa169792356bfc47ee8d0d2d7b Author: Kevin O'Connor <koconnor@usfirst.org> Date: Tue Sep 23 13:56:59 2014 -0400 Implement zero latch (used to reduce brownout latency) in Java Change-Id: I3bf4ffbf20cf3d8a42da4fa1755b4306c49ede34 commit 0af37dfcc0d1172974519c44126973c302385d55 Author: Kevin O'Connor <koconnor@usfirst.org> Date: Tue Sep 23 13:03:07 2014 -0400 Implement zero latch (used to improve brownout latency) in C++ Change-Id: I62bedd1af65d367c32e2ab0b5a4fc679776eecb5 Change-Id: Ic27f37a9ab45aad82c1f7154d4edfbccfaa19229
91 lines
2.5 KiB
C++
91 lines
2.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "Victor.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Common initialization code called by all constructors.
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*
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* Note that the Victor uses the following bounds for PWM values. These values were determined
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* empirically and optimized for the Victor 888. These values should work reasonably well for
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* Victor 884 controllers as well but if users experience issues such as asymmetric behavior around
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* the deadband or inability to saturate the controller in either direction, calibration is recommended.
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* The calibration procedure can be found in the Victor 884 User Manual available from IFI.
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*
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* - 206 = full "forward"
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* - 131 = the "high end" of the deadband range
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* - 128 = center of the deadband range (off)
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* - 125 = the "low end" of the deadband range
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* - 56 = full "reverse"
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*/
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void Victor::InitVictor() {
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SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
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SetPeriodMultiplier(kPeriodMultiplier_2X);
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SetRaw(m_centerPwm);
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SetZeroLatch();
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LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
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HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());
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}
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/**
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* @param channel The PWM channel that the Victor is attached to.
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*/
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Victor::Victor(uint32_t channel) : SafePWM(channel)
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{
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InitVictor();
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}
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Victor::~Victor()
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{
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}
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/**
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* Set the PWM value.
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*
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* The PWM value is set using a range of -1.0 to 1.0, appropriately
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* scaling the value for the FPGA.
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*
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* @param speed The speed value between -1.0 and 1.0 to set.
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* @param syncGroup Unused interface.
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*/
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void Victor::Set(float speed, uint8_t syncGroup)
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{
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SetSpeed(speed);
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}
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/**
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* Get the recently set value of the PWM.
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*
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* @return The most recently set value for the PWM between -1.0 and 1.0.
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*/
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float Victor::Get()
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{
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return GetSpeed();
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}
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/**
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* Common interface for disabling a motor.
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*/
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void Victor::Disable()
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{
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SetRaw(kPwmDisabled);
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}
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/**
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* Write out the PID value as seen in the PIDOutput base object.
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*
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* @param output Write out the PWM value as was found in the PIDController
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*/
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void Victor::PIDWrite(float output)
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{
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Set(output);
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}
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