mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-28 02:11:43 +00:00
2c50937975
These were incorrect and exhibited as warnings on more recent versions of clang (notably on Mac). - Use pointers instead of references internally in GenericHID and *Drive - Leave PIDBase, PIDController, and Resource non-moveable - Remove the atomic from m_disabled in NidecBrushless - Make Timer and Trigger copyable as well as moveable - Implement custom move constructor/assignment for SendableChooserBase Also comment out some unused variables that caused clang warnings.
110 lines
3.0 KiB
C++
110 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2017-2019 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 "frc/DigitalOutput.h"
|
|
#include "frc/ErrorBase.h"
|
|
#include "frc/MotorSafety.h"
|
|
#include "frc/PWM.h"
|
|
#include "frc/SpeedController.h"
|
|
#include "frc/smartdashboard/Sendable.h"
|
|
#include "frc/smartdashboard/SendableHelper.h"
|
|
|
|
namespace frc {
|
|
|
|
class SendableBuilder;
|
|
|
|
/**
|
|
* Nidec Brushless Motor.
|
|
*/
|
|
class NidecBrushless : public SpeedController,
|
|
public MotorSafety,
|
|
public Sendable,
|
|
public SendableHelper<NidecBrushless> {
|
|
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;
|
|
|
|
/**
|
|
* 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
|
|
void StopMotor() 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:
|
|
bool m_isInverted = false;
|
|
bool m_disabled = false;
|
|
DigitalOutput m_dio;
|
|
PWM m_pwm;
|
|
double m_speed = 0.0;
|
|
};
|
|
|
|
} // namespace frc
|