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https://github.com/wpilibsuite/allwpilib
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f89c5e150f
Also make sure table listeners stop listening in their destructors. This might be better handled by moving the table itself into ITableListener and providing cleanup functionality there. A submodule is used to pull in ntcore. Change-Id: I3031c1a768595cf0f8754c47e15cd423e2dbcce5
211 lines
7.6 KiB
C++
211 lines
7.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. 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 "SafePWM.h"
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#include "CANSpeedController.h"
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#include "PIDOutput.h"
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#include "PIDSource.h"
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#include "PIDInterface.h"
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#include "HAL/CanTalonSRX.h"
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#include "MotorSafetyHelper.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITable.h"
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#include <memory>
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/**
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* CTRE Talon SRX Speed Controller with CAN Control
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*/
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class CANTalon : public MotorSafety,
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public CANSpeedController,
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public ErrorBase,
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public LiveWindowSendable,
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public ITableListener,
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public PIDSource,
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public PIDInterface {
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public:
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enum FeedbackDevice {
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QuadEncoder = 0,
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AnalogPot = 2,
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AnalogEncoder = 3,
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EncRising = 4,
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EncFalling = 5
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};
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enum StatusFrameRate {
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StatusFrameRateGeneral = 0,
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StatusFrameRateFeedback = 1,
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StatusFrameRateQuadEncoder = 2,
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StatusFrameRateAnalogTempVbat = 3,
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};
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explicit CANTalon(int deviceNumber);
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explicit CANTalon(int deviceNumber, int controlPeriodMs);
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DEFAULT_MOVE_CONSTRUCTOR(CANTalon);
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virtual ~CANTalon();
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// PIDOutput interface
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virtual void PIDWrite(float output) override;
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// PIDSource interface
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virtual double PIDGet() override;
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// MotorSafety interface
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virtual void SetExpiration(float timeout) override;
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virtual float GetExpiration() const override;
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virtual bool IsAlive() const override;
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virtual void StopMotor() override;
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virtual void SetSafetyEnabled(bool enabled) override;
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virtual bool IsSafetyEnabled() const override;
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virtual void GetDescription(std::ostringstream& desc) const override;
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// CANSpeedController interface
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virtual float Get() const override;
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virtual void Set(float value, uint8_t syncGroup = 0) override;
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virtual void Reset() override;
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virtual void SetSetpoint(float value) override;
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virtual void Disable() override;
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virtual void EnableControl();
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virtual void Enable() override;
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virtual void SetP(double p) override;
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virtual void SetI(double i) override;
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virtual void SetD(double d) override;
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void SetF(double f);
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void SetIzone(unsigned iz);
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virtual void SetPID(double p, double i, double d) override;
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virtual void SetPID(double p, double i, double d, double f);
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virtual double GetP() const override;
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virtual double GetI() const override;
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virtual double GetD() const override;
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virtual double GetF() const;
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virtual float GetBusVoltage() const override;
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virtual float GetOutputVoltage() const override;
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virtual float GetOutputCurrent() const override;
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virtual float GetTemperature() const override;
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void SetPosition(double pos);
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virtual double GetPosition() const override;
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virtual double GetSpeed() const override;
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virtual int GetClosedLoopError() const;
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virtual int GetAnalogIn() const;
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virtual int GetAnalogInRaw() const;
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virtual int GetAnalogInVel() const;
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virtual int GetEncPosition() const;
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virtual int GetEncVel() const;
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int GetPinStateQuadA() const;
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int GetPinStateQuadB() const;
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int GetPinStateQuadIdx() const;
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int IsFwdLimitSwitchClosed() const;
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int IsRevLimitSwitchClosed() const;
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int GetNumberOfQuadIdxRises() const;
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void SetNumberOfQuadIdxRises(int rises);
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virtual bool GetForwardLimitOK() const override;
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virtual bool GetReverseLimitOK() const override;
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virtual uint16_t GetFaults() const override;
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uint16_t GetStickyFaults() const;
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void ClearStickyFaults();
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virtual void SetVoltageRampRate(double rampRate) override;
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virtual uint32_t GetFirmwareVersion() const override;
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virtual void ConfigNeutralMode(NeutralMode mode) override;
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virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
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virtual void ConfigPotentiometerTurns(uint16_t turns) override;
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virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
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double reverseLimitPosition) override;
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virtual void DisableSoftPositionLimits() override;
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virtual void ConfigLimitMode(LimitMode mode) override;
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virtual void ConfigForwardLimit(double forwardLimitPosition) override;
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virtual void ConfigReverseLimit(double reverseLimitPosition) override;
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/**
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* Change the fwd limit switch setting to normally open or closed.
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* Talon will disable momentarilly if the Talon's current setting
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* is dissimilar to the caller's requested setting.
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*
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* Since Talon saves setting to flash this should only affect
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* a given Talon initially during robot install.
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*
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* @param normallyOpen true for normally open. false for normally closed.
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*/
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void ConfigFwdLimitSwitchNormallyOpen(bool normallyOpen);
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/**
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* Change the rev limit switch setting to normally open or closed.
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* Talon will disable momentarilly if the Talon's current setting
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* is dissimilar to the caller's requested setting.
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*
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* Since Talon saves setting to flash this should only affect
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* a given Talon initially during robot install.
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*
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* @param normallyOpen true for normally open. false for normally closed.
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*/
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void ConfigRevLimitSwitchNormallyOpen(bool normallyOpen);
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virtual void ConfigMaxOutputVoltage(double voltage) override;
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virtual void ConfigFaultTime(float faultTime) override;
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virtual void SetControlMode(ControlMode mode);
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void SetFeedbackDevice(FeedbackDevice device);
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void SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs);
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virtual ControlMode GetControlMode() const;
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void SetSensorDirection(bool reverseSensor);
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void SetCloseLoopRampRate(double rampRate);
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void SelectProfileSlot(int slotIdx);
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int GetIzone() const;
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int GetIaccum() const;
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void ClearIaccum();
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int GetBrakeEnableDuringNeutral() const;
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bool IsControlEnabled() const;
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bool IsEnabled() const override;
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double GetSetpoint() const override;
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// LiveWindow stuff.
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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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// SpeedController overrides
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virtual void SetInverted(bool isInverted) override;
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virtual bool GetInverted() const override;
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private:
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// Values for various modes as is sent in the CAN packets for the Talon.
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enum TalonControlMode {
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kThrottle = 0,
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kFollowerMode = 5,
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kVoltageMode = 4,
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kPositionMode = 1,
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kSpeedMode = 2,
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kCurrentMode = 3,
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kDisabled = 15
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};
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int m_deviceNumber;
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std::unique_ptr<CanTalonSRX> m_impl;
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std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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int m_profile = 0; // Profile from CANTalon to use. Set to zero until we can
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// actually test this.
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bool m_controlEnabled = true;
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ControlMode m_controlMode = kPercentVbus;
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TalonControlMode m_sendMode;
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double m_setPoint = 0;
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static const unsigned int kDelayForSolicitedSignalsUs = 4000;
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/**
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* Fixup the sendMode so Set() serializes the correct demand value.
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* Also fills the modeSelecet in the control frame to disabled.
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* @param mode Control mode to ultimately enter once user calls Set().
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* @see Set()
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*/
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void ApplyControlMode(CANSpeedController::ControlMode mode);
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// LiveWindow stuff.
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std::shared_ptr<ITable> m_table;
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bool m_isInverted;
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HasBeenMoved m_hasBeenMoved;
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};
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