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2aed432b4b
This makes code easier to read and more consistent between C++ and Java. Also update clang-format settings to always add a line break (even if no braces are used).
74 lines
1.9 KiB
C++
74 lines
1.9 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/Servo.h"
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#include <hal/FRCUsageReporting.h>
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#include "frc/smartdashboard/SendableBuilder.h"
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#include "frc/smartdashboard/SendableRegistry.h"
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using namespace frc;
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constexpr double Servo::kMaxServoAngle;
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constexpr double Servo::kMinServoAngle;
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constexpr double Servo::kDefaultMaxServoPWM;
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constexpr double Servo::kDefaultMinServoPWM;
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Servo::Servo(int channel) : PWM(channel) {
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// Set minimum and maximum PWM values supported by the servo
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SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
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// Assign defaults for period multiplier for the servo PWM control signal
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SetPeriodMultiplier(kPeriodMultiplier_4X);
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HAL_Report(HALUsageReporting::kResourceType_Servo, channel + 1);
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SendableRegistry::GetInstance().SetName(this, "Servo", channel);
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}
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void Servo::Set(double value) {
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SetPosition(value);
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}
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void Servo::SetOffline() {
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SetRaw(0);
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}
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double Servo::Get() const {
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return GetPosition();
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}
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void Servo::SetAngle(double degrees) {
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if (degrees < kMinServoAngle) {
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degrees = kMinServoAngle;
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} else if (degrees > kMaxServoAngle) {
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degrees = kMaxServoAngle;
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}
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SetPosition((degrees - kMinServoAngle) / GetServoAngleRange());
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}
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double Servo::GetAngle() const {
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return GetPosition() * GetServoAngleRange() + kMinServoAngle;
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}
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double Servo::GetMaxAngle() const {
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return kMaxServoAngle;
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}
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double Servo::GetMinAngle() const {
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return kMinServoAngle;
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}
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void Servo::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Servo");
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builder.AddDoubleProperty(
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"Value", [=]() { return Get(); }, [=](double value) { Set(value); });
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}
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double Servo::GetServoAngleRange() const {
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return kMaxServoAngle - kMinServoAngle;
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}
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