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9dc30797e4
According to NI, 0 is unspecified, and all the indices need to be index + 1, so the first index becomes 1.
67 lines
2.1 KiB
C++
67 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 FIRST. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/Servo.h"
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#include <hal/HAL.h>
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#include "frc/smartdashboard/SendableBuilder.h"
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#include "frc/smartdashboard/SendableRegistry.h"
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using namespace frc;
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constexpr double Servo::kMaxServoAngle;
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constexpr double Servo::kMinServoAngle;
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constexpr double Servo::kDefaultMaxServoPWM;
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constexpr double Servo::kDefaultMinServoPWM;
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Servo::Servo(int channel) : PWM(channel) {
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// Set minimum and maximum PWM values supported by the servo
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SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
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// Assign defaults for period multiplier for the servo PWM control signal
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SetPeriodMultiplier(kPeriodMultiplier_4X);
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HAL_Report(HALUsageReporting::kResourceType_Servo, channel + 1);
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SendableRegistry::GetInstance().SetName(this, "Servo", channel);
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}
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void Servo::Set(double value) { SetPosition(value); }
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void Servo::SetOffline() { SetRaw(0); }
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double Servo::Get() const { return GetPosition(); }
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void Servo::SetAngle(double degrees) {
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if (degrees < kMinServoAngle) {
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degrees = kMinServoAngle;
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} else if (degrees > kMaxServoAngle) {
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degrees = kMaxServoAngle;
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}
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SetPosition((degrees - kMinServoAngle) / GetServoAngleRange());
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}
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double Servo::GetAngle() const {
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return GetPosition() * GetServoAngleRange() + kMinServoAngle;
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}
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double Servo::GetMaxAngle() const { return kMaxServoAngle; }
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double Servo::GetMinAngle() const { return kMinServoAngle; }
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void Servo::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Servo");
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builder.AddDoubleProperty("Value", [=]() { return Get(); },
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[=](double value) { Set(value); });
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}
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double Servo::GetServoAngleRange() const {
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return kMaxServoAngle - kMinServoAngle;
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}
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