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https://github.com/wpilibsuite/allwpilib
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48 lines
2.4 KiB
C
48 lines
2.4 KiB
C
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 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 <stdint.h>
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#include "HAL/Handles.h"
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extern "C" {
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HalDigitalHandle initializePWMPort(HalPortHandle port_handle, int32_t* status);
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void freePWMPort(HalDigitalHandle pwm_port_handle, int32_t* status);
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bool checkPWMChannel(uint8_t pin);
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void setPWMConfig(HalDigitalHandle pwm_port_handle, double maxPwm,
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double deadbandMaxPwm, double centerPwm,
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double deadbandMinPwm, double minPwm, int32_t* status);
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void setPWMConfigRaw(HalDigitalHandle pwm_port_handle, int32_t maxPwm,
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int32_t deadbandMaxPwm, int32_t centerPwm,
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int32_t deadbandMinPwm, int32_t minPwm, int32_t* status);
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void getPWMConfigRaw(HalDigitalHandle pwm_port_handle, int32_t* maxPwm,
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int32_t* deadbandMaxPwm, int32_t* centerPwm,
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int32_t* deadbandMinPwm, int32_t* minPwm, int32_t* status);
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void setPWMEliminateDeadband(HalDigitalHandle pwm_port_handle,
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uint8_t eliminateDeadband, int32_t* status);
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uint8_t getPWMEliminateDeadband(HalDigitalHandle pwm_port_handle,
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int32_t* status);
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void setPWMRaw(HalDigitalHandle pwm_port_handle, uint16_t value,
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int32_t* status);
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void setPWMSpeed(HalDigitalHandle pwm_port_handle, float speed,
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int32_t* status);
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void setPWMPosition(HalDigitalHandle pwm_port_handle, float position,
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int32_t* status);
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void setPWMDisabled(HalDigitalHandle pwm_port_handle, int32_t* status);
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uint16_t getPWMRaw(HalDigitalHandle pwm_port_handle, int32_t* status);
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float getPWMSpeed(HalDigitalHandle pwm_port_handle, int32_t* status);
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float getPWMPosition(HalDigitalHandle pwm_port_handle, int32_t* status);
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void latchPWMZero(HalDigitalHandle pwm_port_handle, int32_t* status);
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void setPWMPeriodScale(HalDigitalHandle pwm_port_handle, uint32_t squelchMask,
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int32_t* status);
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uint16_t getLoopTiming(int32_t* status);
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}
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