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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
78 lines
2.9 KiB
C++
78 lines
2.9 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 "MotorSafetyHelper.h"
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class CanTalonSRX;
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/**
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* CTRE Talon SRX Speed Controller
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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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{
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public:
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explicit CANTalon(uint8_t deviceNumber);
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virtual ~CANTalon();
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// PIDController interface
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virtual void PIDWrite(float output) override;
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// MotorSafety interface
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virtual void SetExpiration(float timeout) override;
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virtual float GetExpiration() override;
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virtual bool IsAlive() 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() override;
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virtual void GetDescription(char *desc) override;
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// CANSpeedController interface
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virtual float Get() override;
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virtual void Set(float value, uint8_t syncGroup=0) override;
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virtual void Disable() 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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virtual void SetPID(double p, double i, double d) override;
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virtual double GetP() override;
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virtual double GetI() override;
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virtual double GetD() override;
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virtual float GetBusVoltage() override;
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virtual float GetOutputVoltage() override;
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virtual float GetOutputCurrent() override;
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virtual float GetTemperature() override;
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virtual double GetPosition() override;
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virtual double GetSpeed() override;
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virtual bool GetForwardLimitOK() override;
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virtual bool GetReverseLimitOK() override;
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virtual uint16_t GetFaults() override;
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virtual void SetVoltageRampRate(double rampRate) override;
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virtual uint32_t GetFirmwareVersion() 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, 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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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) override;
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virtual ControlMode GetControlMode() override;
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private:
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uint8_t m_deviceNumber;
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CanTalonSRX *m_impl;
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MotorSafetyHelper *m_safetyHelper;
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};
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