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https://github.com/wpilibsuite/allwpilib
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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
86 lines
2.8 KiB
C++
86 lines
2.8 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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#include "Talon.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Constructor for a Talon (original or Talon SR)
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* @param channel The PWM channel number that the Talon 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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Talon::Talon(uint32_t channel) : SafePWM(channel) {
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/* Note that the Talon uses the following bounds for PWM values. These values
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* should work reasonably well for most controllers, but if users experience
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* issues such as asymmetric behavior around the deadband or inability to
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* saturate the controller in either direction, calibration is recommended.
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* The calibration procedure can be found in the Talon User Manual available
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* from CTRE.
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*
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* 2.037ms = full "forward"
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* 1.539ms = the "high end" of the deadband range
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* 1.513ms = center of the deadband range (off)
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* 1.487ms = the "low end" of the deadband range
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* 0.989ms = full "reverse"
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*/
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SetBounds(2.037, 1.539, 1.513, 1.487, .989);
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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_Talon, GetChannel());
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LiveWindow::GetInstance()->AddActuator("Talon", 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 Talon::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 Talon::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 Talon::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 Talon::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 Talon::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 Talon::PIDWrite(float output) { Set(output); }
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