mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
105 lines
3.7 KiB
C++
105 lines
3.7 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "SensorBase.h"
|
|
#include "simulation/SimContinuousOutput.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
#include "tables/ITableListener.h"
|
|
|
|
#include <memory>
|
|
|
|
/**
|
|
* Class implements the PWM generation in the FPGA.
|
|
*
|
|
* The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They are mapped
|
|
* to the hardware dependent values, in this case 0-255 for the FPGA.
|
|
* Changes are immediately sent to the FPGA, and the update occurs at the next
|
|
* FPGA cycle. There is no delay.
|
|
*
|
|
* As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-255 values as follows:
|
|
* - 255 = full "forward"
|
|
* - 254 to 129 = linear scaling from "full forward" to "center"
|
|
* - 128 = center value
|
|
* - 127 to 2 = linear scaling from "center" to "full reverse"
|
|
* - 1 = full "reverse"
|
|
* - 0 = disabled (i.e. PWM output is held low)
|
|
*/
|
|
class PWM : public SensorBase, public ITableListener, public LiveWindowSendable
|
|
{
|
|
public:
|
|
enum PeriodMultiplier
|
|
{
|
|
kPeriodMultiplier_1X = 1,
|
|
kPeriodMultiplier_2X = 2,
|
|
kPeriodMultiplier_4X = 4
|
|
};
|
|
|
|
explicit PWM(uint32_t channel);
|
|
virtual ~PWM();
|
|
virtual void SetRaw(unsigned short value);
|
|
void SetPeriodMultiplier(PeriodMultiplier mult);
|
|
void EnableDeadbandElimination(bool eliminateDeadband);
|
|
void SetBounds(int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin,
|
|
int32_t min);
|
|
void SetBounds(double max, double deadbandMax, double center, double deadbandMin, double min);
|
|
uint32_t GetChannel() const
|
|
{
|
|
return m_channel;
|
|
}
|
|
|
|
protected:
|
|
/**
|
|
* kDefaultPwmPeriod is in ms
|
|
*
|
|
* - 20ms periods (50 Hz) are the "safest" setting in that this works for all devices
|
|
* - 20ms periods seem to be desirable for Vex Motors
|
|
* - 20ms periods are the specified period for HS-322HD servos, but work reliably down
|
|
* to 10.0 ms; starting at about 8.5ms, the servo sometimes hums and get hot;
|
|
* by 5.0ms the hum is nearly continuous
|
|
* - 10ms periods work well for Victor 884
|
|
* - 5ms periods allows higher update rates for Luminary Micro Jaguar speed controllers.
|
|
* Due to the shipping firmware on the Jaguar, we can't run the update period less
|
|
* than 5.05 ms.
|
|
*
|
|
* kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period scaling is implemented as an
|
|
* output squelch to get longer periods for old devices.
|
|
*/
|
|
static const float kDefaultPwmPeriod;
|
|
/**
|
|
* kDefaultPwmCenter is the PWM range center in ms
|
|
*/
|
|
static const float kDefaultPwmCenter;
|
|
/**
|
|
* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
|
|
*/
|
|
static const int32_t kDefaultPwmStepsDown;
|
|
static const int32_t kPwmDisabled;
|
|
|
|
virtual void SetPosition(float pos);
|
|
virtual float GetPosition() const;
|
|
virtual void SetSpeed(float speed);
|
|
virtual float GetSpeed() const;
|
|
|
|
bool m_eliminateDeadband;
|
|
int32_t m_centerPwm;
|
|
|
|
void ValueChanged(ITable* source, llvm::StringRef key,
|
|
std::shared_ptr<nt::Value> value, bool isNew) override;
|
|
void UpdateTable() override;
|
|
void StartLiveWindowMode() override;
|
|
void StopLiveWindowMode() override;
|
|
std::string GetSmartDashboardType() const override;
|
|
void InitTable(std::shared_ptr<ITable> subTable) override;
|
|
std::shared_ptr<ITable> GetTable() const override;
|
|
|
|
std::shared_ptr<ITable> m_table;
|
|
|
|
private:
|
|
uint32_t m_channel;
|
|
SimContinuousOutput* impl;
|
|
};
|