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https://github.com/wpilibsuite/allwpilib
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9050ea7e3d
CANSpeedController is a subinterface of SpeedController that adds method prototypes and enums for all of the common smart speed controller features. CANJaguar implements this interfaces. CANTalon does too, but most methods are stubs right now. Change-Id: I67e0177d91e45444657280502a247d787ad5c74c
88 lines
2.8 KiB
C++
88 lines
2.8 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 "SpeedController.h"
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/**
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* Interface for "smart" CAN-based speed controllers.
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* @see CANJaguar
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* @see CANTalon
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*/
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class CANSpeedController : public SpeedController
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{
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public:
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enum ControlMode {
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kPercentVbus,
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kCurrent,
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kSpeed,
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kPosition,
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kVoltage
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};
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enum Faults {
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kCurrentFault = 1,
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kTemperatureFault = 2,
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kBusVoltageFault = 4,
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kGateDriverFault = 8
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};
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enum Limits {
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kForwardLimit = 1,
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kReverseLimit = 2
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};
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enum NeutralMode {
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/** Use the NeutralMode that is set by the jumper wire on the CAN device */
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kNeutralMode_Jumper = 0,
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/** Stop the motor's rotation by applying a force. */
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kNeutralMode_Brake = 1,
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/** Do not attempt to stop the motor. Instead allow it to coast to a stop without applying resistance. */
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kNeutralMode_Coast = 2
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};
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enum LimitMode {
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/** Only use switches for limits */
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kLimitMode_SwitchInputsOnly = 0,
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/** Use both switches and soft limits */
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kLimitMode_SoftPositionLimits = 1
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};
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virtual float Get() = 0;
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virtual void Set(float value, uint8_t syncGroup=0) = 0;
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virtual void Disable() = 0;
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virtual void SetP(double p) = 0;
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virtual void SetI(double i) = 0;
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virtual void SetD(double d) = 0;
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virtual void SetPID(double p, double i, double d) = 0;
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virtual double GetP() = 0;
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virtual double GetI() = 0;
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virtual double GetD() = 0;
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virtual float GetBusVoltage() = 0;
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virtual float GetOutputVoltage() = 0;
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virtual float GetOutputCurrent() = 0;
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virtual float GetTemperature() = 0;
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virtual double GetPosition() = 0;
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virtual double GetSpeed() = 0;
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virtual bool GetForwardLimitOK() = 0;
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virtual bool GetReverseLimitOK() = 0;
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virtual uint16_t GetFaults() = 0;
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virtual void SetVoltageRampRate(double rampRate) = 0;
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virtual uint32_t GetFirmwareVersion() = 0;
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virtual void ConfigNeutralMode(NeutralMode mode) = 0;
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virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
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virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
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virtual void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition) = 0;
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virtual void DisableSoftPositionLimits() = 0;
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virtual void ConfigLimitMode(LimitMode mode) = 0;
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virtual void ConfigForwardLimit(double forwardLimitPosition) = 0;
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virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
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virtual void ConfigMaxOutputVoltage(double voltage) = 0;
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virtual void ConfigFaultTime(float faultTime) = 0;
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virtual void SetControlMode(ControlMode mode) = 0;
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virtual ControlMode GetControlMode() = 0;
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};
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