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952ebb11ad
For Java, this is as simple as just adding it, as all motors already have an implementation from MotorSafety that is correctly resolved. For C++, I had to override StopMotor in the classes that descend from SafePWM and explicitly call the SafePWM version. RobotDrive now calls StopMotor on each of its SpeedControllers, instead of calling Disable or setting the motor to 0.0 as it was doing previously. Additional small formatting corrections to the previous commit starting this were added. Change-Id: Ie94565394927a910ce74bc628670ac3d658d8df9
84 lines
2.7 KiB
C++
84 lines
2.7 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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#include "Jaguar.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Constructor for a Jaguar connected via PWM
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* @param channel The PWM channel that the Jaguar is attached to. 0-9 are
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* on-board, 10-19 are on the MXP port
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*/
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Jaguar::Jaguar(uint32_t channel) : SafePWM(channel) {
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/**
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* Input profile defined by Luminary Micro.
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*
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* Full reverse ranges from 0.671325ms to 0.6972211ms
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* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
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* Neutral ranges from 1.4482078ms to 1.5517922ms
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* Proportional forward ranges from 1.5517922ms to 2.3027789ms
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* Full forward ranges from 2.3027789ms to 2.328675ms
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*/
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SetBounds(2.31, 1.55, 1.507, 1.454, .697);
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SetPeriodMultiplier(kPeriodMultiplier_1X);
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SetRaw(m_centerPwm);
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SetZeroLatch();
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HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel());
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LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
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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 Jaguar::Set(float speed, uint8_t syncGroup) {
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SetSpeed(m_isInverted ? -speed : 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 Jaguar::Get() const { return GetSpeed(); }
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/**
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* Common interface for disabling a motor.
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*/
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void Jaguar::Disable() { SetRaw(kPwmDisabled); }
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/**
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* Common interface for inverting direction of a speed controller.
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* @param isInverted The state of inversion, true is inverted.
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*/
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void Jaguar::SetInverted(bool isInverted) { m_isInverted = isInverted; }
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/**
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* Common interface for the inverting direction of a speed controller.
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*
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* @return isInverted The state of inversion, true is inverted.
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*
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*/
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bool Jaguar::GetInverted() const { return m_isInverted; }
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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 Jaguar::PIDWrite(float output) { Set(output); }
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/**
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* Common interface to stop the motor until Set is called again.
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*/
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void Jaguar::StopMotor() { this->SafePWM::StopMotor(); } |