mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-04 03:11:43 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
53 lines
1.7 KiB
C++
53 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "SafePWM.h"
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#include "SpeedController.h"
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#include <memory>
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/**
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* Standard hobby style servo.
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*
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* The range parameters default to the appropriate values for the Hitec HS-322HD
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* servo provided
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* in the FIRST Kit of Parts in 2008.
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*/
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class Servo : public SafePWM {
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public:
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explicit Servo(uint32_t channel);
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virtual ~Servo();
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void Set(float value);
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void SetOffline();
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float Get() const;
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void SetAngle(float angle);
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float GetAngle() const;
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static float GetMaxAngle() { return kMaxServoAngle; }
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static float GetMinAngle() { return kMinServoAngle; }
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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std::shared_ptr<ITable> m_table = nullptr;
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private:
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float GetServoAngleRange() const { return kMaxServoAngle - kMinServoAngle; }
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static constexpr float kMaxServoAngle = 180.0;
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static constexpr float kMinServoAngle = 0.0;
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static constexpr float kDefaultMaxServoPWM = 2.4;
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static constexpr float kDefaultMinServoPWM = .6;
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};
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