mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-07-01 02:41:48 +00:00
145 lines
3.9 KiB
C++
145 lines
3.9 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2017-2018 FIRST. 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 the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <atomic>
|
|
|
|
#include "frc/DigitalOutput.h"
|
|
#include "frc/ErrorBase.h"
|
|
#include "frc/MotorSafety.h"
|
|
#include "frc/MotorSafetyHelper.h"
|
|
#include "frc/PWM.h"
|
|
#include "frc/SpeedController.h"
|
|
#include "frc/smartdashboard/SendableBase.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Nidec Brushless Motor.
|
|
*/
|
|
class NidecBrushless : public ErrorBase,
|
|
public SendableBase,
|
|
public SpeedController,
|
|
public MotorSafety {
|
|
public:
|
|
/**
|
|
* Constructor.
|
|
*
|
|
* @param pwmChannel The PWM channel that the Nidec Brushless controller is
|
|
* attached to. 0-9 are on-board, 10-19 are on the MXP port.
|
|
* @param dioChannel The DIO channel that the Nidec Brushless controller is
|
|
* attached to. 0-9 are on-board, 10-25 are on the MXP port.
|
|
*/
|
|
NidecBrushless(int pwmChannel, int dioChannel);
|
|
|
|
~NidecBrushless() override = default;
|
|
|
|
NidecBrushless(NidecBrushless&&) = default;
|
|
NidecBrushless& operator=(NidecBrushless&&) = default;
|
|
|
|
// SpeedController interface
|
|
/**
|
|
* Set the PWM value.
|
|
*
|
|
* The PWM value is set using a range of -1.0 to 1.0, appropriately scaling
|
|
* the value for the FPGA.
|
|
*
|
|
* @param speed The speed value between -1.0 and 1.0 to set.
|
|
*/
|
|
void Set(double speed) override;
|
|
|
|
/**
|
|
* Get the recently set value of the PWM.
|
|
*
|
|
* @return The most recently set value for the PWM between -1.0 and 1.0.
|
|
*/
|
|
double Get() const override;
|
|
|
|
void SetInverted(bool isInverted) override;
|
|
|
|
bool GetInverted() const override;
|
|
|
|
/**
|
|
* Disable the motor. The Enable() function must be called to re-enable the
|
|
* motor.
|
|
*/
|
|
void Disable() override;
|
|
|
|
/**
|
|
* Stop the motor.
|
|
*
|
|
* This is called by the MotorSafetyHelper object when it has a timeout for
|
|
* this PWM and needs to stop it from running. Calling Set() will re-enable
|
|
* the motor.
|
|
*/
|
|
void StopMotor() override;
|
|
|
|
/**
|
|
* Re-enable the motor after Disable() has been called. The Set() function
|
|
* must be called to set a new motor speed.
|
|
*/
|
|
void Enable();
|
|
|
|
// PIDOutput interface
|
|
/**
|
|
* Write out the PID value as seen in the PIDOutput base object.
|
|
*
|
|
* @param output Write out the PWM value as was found in the PIDController
|
|
*/
|
|
void PIDWrite(double output) override;
|
|
|
|
// MotorSafety interface
|
|
/**
|
|
* Set the safety expiration time.
|
|
*
|
|
* @param timeout The timeout (in seconds) for this motor object
|
|
*/
|
|
void SetExpiration(double timeout) override;
|
|
|
|
/**
|
|
* Return the safety expiration time.
|
|
*
|
|
* @return The expiration time value.
|
|
*/
|
|
double GetExpiration() const override;
|
|
|
|
/**
|
|
* Check if the motor is currently alive or stopped due to a timeout.
|
|
*
|
|
* @return a bool value that is true if the motor has NOT timed out and should
|
|
* still be running.
|
|
*/
|
|
bool IsAlive() const override;
|
|
|
|
void SetSafetyEnabled(bool enabled) override;
|
|
|
|
bool IsSafetyEnabled() const override;
|
|
|
|
void GetDescription(wpi::raw_ostream& desc) const override;
|
|
|
|
/**
|
|
* Gets the channel number associated with the object.
|
|
*
|
|
* @return The channel number.
|
|
*/
|
|
int GetChannel() const;
|
|
|
|
// Sendable interface
|
|
void InitSendable(SendableBuilder& builder) override;
|
|
|
|
private:
|
|
MotorSafetyHelper m_safetyHelper;
|
|
bool m_isInverted = false;
|
|
std::atomic_bool m_disabled{false};
|
|
DigitalOutput m_dio;
|
|
PWM m_pwm;
|
|
double m_speed = 0.0;
|
|
};
|
|
|
|
} // namespace frc
|