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https://github.com/wpilibsuite/allwpilib
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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
93 lines
2.9 KiB
C++
93 lines
2.9 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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#include "Spark.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Note that the Spark uses the following bounds for PWM values. These values
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* should work reasonably well for
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* most controllers, but if users experience issues such as asymmetric behavior
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* around
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* the deadband or inability to saturate the controller in either direction,
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* calibration is recommended.
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* The calibration procedure can be found in the Spark User Manual available
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* from REV Robotics.
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*
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* 2.003ms = full "forward"
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* 1.55ms = the "high end" of the deadband range
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* 1.50ms = center of the deadband range (off)
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* 1.46ms = the "low end" of the deadband range
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* 0.999ms = full "reverse"
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*/
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/**
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* Constructor for a Spark
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* @param channel The PWM channel that the Spark 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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Spark::Spark(uint32_t channel) : SafePWM(channel) {
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SetBounds(2.003, 1.55, 1.50, 1.46, .999);
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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_RevSPARK, GetChannel());
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LiveWindow::GetInstance()->AddActuator("Spark", 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 Spark::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 Spark::Get() const { return GetSpeed(); }
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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 Spark::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 Spark::GetInverted() const { return m_isInverted; }
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/**
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* Common interface for disabling a motor.
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*/
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void Spark::Disable() { SetRaw(kPwmDisabled); }
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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 Spark::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 Spark::StopMotor() { this->SafePWM::StopMotor(); } |