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https://github.com/wpilibsuite/allwpilib
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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
91 lines
2.7 KiB
C++
91 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 FIRST. 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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#include "frc/NidecBrushless.h"
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#include <hal/HAL.h>
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#include "frc/smartdashboard/SendableBuilder.h"
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using namespace frc;
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NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
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: m_safetyHelper(this), m_dio(dioChannel), m_pwm(pwmChannel) {
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AddChild(&m_dio);
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AddChild(&m_pwm);
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m_safetyHelper.SetExpiration(0.0);
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m_safetyHelper.SetSafetyEnabled(false);
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// the dio controls the output (in PWM mode)
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m_dio.SetPWMRate(15625);
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m_dio.EnablePWM(0.5);
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HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel);
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SetName("Nidec Brushless", pwmChannel);
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}
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void NidecBrushless::Set(double speed) {
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if (!m_disabled) {
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m_speed = speed;
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m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
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m_pwm.SetRaw(0xffff);
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}
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m_safetyHelper.Feed();
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}
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double NidecBrushless::Get() const { return m_speed; }
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void NidecBrushless::SetInverted(bool isInverted) { m_isInverted = isInverted; }
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bool NidecBrushless::GetInverted() const { return m_isInverted; }
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void NidecBrushless::Disable() {
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m_disabled = true;
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m_dio.UpdateDutyCycle(0.5);
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m_pwm.SetDisabled();
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}
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void NidecBrushless::StopMotor() {
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m_dio.UpdateDutyCycle(0.5);
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m_pwm.SetDisabled();
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}
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void NidecBrushless::Enable() { m_disabled = false; }
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void NidecBrushless::PIDWrite(double output) { Set(output); }
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void NidecBrushless::SetExpiration(double timeout) {
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m_safetyHelper.SetExpiration(timeout);
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}
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double NidecBrushless::GetExpiration() const {
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return m_safetyHelper.GetExpiration();
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}
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bool NidecBrushless::IsAlive() const { return m_safetyHelper.IsAlive(); }
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void NidecBrushless::SetSafetyEnabled(bool enabled) {
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m_safetyHelper.SetSafetyEnabled(enabled);
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}
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bool NidecBrushless::IsSafetyEnabled() const {
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return m_safetyHelper.IsSafetyEnabled();
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}
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void NidecBrushless::GetDescription(wpi::raw_ostream& desc) const {
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desc << "Nidec " << GetChannel();
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}
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int NidecBrushless::GetChannel() const { return m_pwm.GetChannel(); }
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void NidecBrushless::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Nidec Brushless");
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builder.SetSafeState([=]() { StopMotor(); });
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builder.AddDoubleProperty("Value", [=]() { return Get(); },
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[=](double value) { Set(value); });
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}
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