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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
89 lines
3.1 KiB
C++
89 lines
3.1 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 "Victor.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Constructor for a Victor
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* @param channel The PWM channel number that the Victor 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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Victor::Victor(uint32_t channel) : SafePWM(channel) {
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/* Note that the Victor uses the following bounds for PWM values. These
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* values were determined empirically and optimized for the Victor 888. These
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* values should work reasonably well for Victor 884 controllers as well but
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* if users experience issues such as asymmetric behaviour around the deadband
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* or inability to saturate the controller in either direction, calibration is
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* recommended. The calibration procedure can be found in the Victor 884 User
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* Manual available from IFI.
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*
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* 2.027ms = full "forward"
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* 1.525ms = the "high end" of the deadband range
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* 1.507ms = center of the deadband range (off)
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* 1.49ms = the "low end" of the deadband range
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* 1.026ms = full "reverse"
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*/
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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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* 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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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 Victor::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 Victor::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 Victor::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 Victor::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 Victor::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 Victor::StopMotor() { this->SafePWM::StopMotor(); } |