mirror of
https://github.com/wpilibsuite/allwpilib
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bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
102 lines
2.6 KiB
C++
102 lines
2.6 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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#include "Jaguar.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "DigitalModule.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Common initialization code called by all constructors.
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*/
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void Jaguar::InitJaguar()
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{
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/*
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* Input profile defined by Luminary Micro.
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*
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* Full reverse ranges from 0.671325ms to 0.6972211ms
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* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
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* Neutral ranges from 1.4482078ms to 1.5517922ms
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* Proportional forward ranges from 1.5517922ms to 2.3027789ms
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* Full forward ranges from 2.3027789ms to 2.328675ms
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*/
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SetBounds(2.31, 1.55, 1.507, 1.454, .697);
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SetPeriodMultiplier(kPeriodMultiplier_1X);
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SetRaw(m_centerPwm);
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HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel(), GetModuleNumber() - 1);
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LiveWindow::GetInstance()->AddActuator("Jaguar", GetModuleNumber(), GetChannel(), this);
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}
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/**
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* Constructor that assumes the default digital module.
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*
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* @param channel The PWM channel on the digital module that the Jaguar is attached to.
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*/
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Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
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{
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InitJaguar();
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}
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/**
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* Constructor that specifies the digital module.
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*
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* @param moduleNumber The digital module (1 or 2).
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* @param channel The PWM channel on the digital module that the Jaguar is attached to.
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*/
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Jaguar::Jaguar(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
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{
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InitJaguar();
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}
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Jaguar::~Jaguar()
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{
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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 Jaguar::Set(float speed, uint8_t syncGroup)
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{
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SetSpeed(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 Jaguar::Get()
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{
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return GetSpeed();
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}
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/**
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* Common interface for disabling a motor.
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*/
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void Jaguar::Disable()
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{
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SetRaw(kPwmDisabled);
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}
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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 Jaguar::PIDWrite(float output)
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{
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Set(output);
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}
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