mirror of
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
105 lines
3.7 KiB
C++
105 lines
3.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "SensorBase.h"
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#include "simulation/SimContinuousOutput.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITableListener.h"
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#include <memory>
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/**
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* Class implements the PWM generation in the FPGA.
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*
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* The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They are mapped
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* to the hardware dependent values, in this case 0-255 for the FPGA.
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* Changes are immediately sent to the FPGA, and the update occurs at the next
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* FPGA cycle. There is no delay.
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*
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* As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-255 values as follows:
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* - 255 = full "forward"
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* - 254 to 129 = linear scaling from "full forward" to "center"
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* - 128 = center value
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* - 127 to 2 = linear scaling from "center" to "full reverse"
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* - 1 = full "reverse"
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* - 0 = disabled (i.e. PWM output is held low)
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*/
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class PWM : public SensorBase, public ITableListener, public LiveWindowSendable
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{
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public:
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enum PeriodMultiplier
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{
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kPeriodMultiplier_1X = 1,
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kPeriodMultiplier_2X = 2,
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kPeriodMultiplier_4X = 4
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};
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explicit PWM(uint32_t channel);
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virtual ~PWM();
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virtual void SetRaw(unsigned short value);
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void SetPeriodMultiplier(PeriodMultiplier mult);
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void EnableDeadbandElimination(bool eliminateDeadband);
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void SetBounds(int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin,
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int32_t min);
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void SetBounds(double max, double deadbandMax, double center, double deadbandMin, double min);
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uint32_t GetChannel() const
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{
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return m_channel;
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}
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protected:
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/**
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* kDefaultPwmPeriod is in ms
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*
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* - 20ms periods (50 Hz) are the "safest" setting in that this works for all devices
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* - 20ms periods seem to be desirable for Vex Motors
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* - 20ms periods are the specified period for HS-322HD servos, but work reliably down
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* to 10.0 ms; starting at about 8.5ms, the servo sometimes hums and get hot;
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* by 5.0ms the hum is nearly continuous
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* - 10ms periods work well for Victor 884
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* - 5ms periods allows higher update rates for Luminary Micro Jaguar speed controllers.
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* Due to the shipping firmware on the Jaguar, we can't run the update period less
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* than 5.05 ms.
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*
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* kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period scaling is implemented as an
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* output squelch to get longer periods for old devices.
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*/
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static const float kDefaultPwmPeriod;
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/**
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* kDefaultPwmCenter is the PWM range center in ms
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*/
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static const float kDefaultPwmCenter;
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/**
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* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
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*/
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static const int32_t kDefaultPwmStepsDown;
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static const int32_t kPwmDisabled;
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virtual void SetPosition(float pos);
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virtual float GetPosition() const;
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virtual void SetSpeed(float speed);
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virtual float GetSpeed() const;
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bool m_eliminateDeadband;
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int32_t m_centerPwm;
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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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uint32_t m_channel;
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SimContinuousOutput* impl;
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};
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