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https://github.com/wpilibsuite/allwpilib
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60 lines
1.9 KiB
C++
60 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "Jaguar.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* @param channel The PWM channel that the Jaguar is attached to.
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*/
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Jaguar::Jaguar(int channel) : SafePWM(channel) {
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/*
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* Input profile defined by Luminary Micro.
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*
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* Full reverse ranges from 0.671325ms to 0.6972211ms
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* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
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* Neutral ranges from 1.4482078ms to 1.5517922ms
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* Proportional forward ranges from 1.5517922ms to 2.3027789ms
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* Full forward ranges from 2.3027789ms to 2.328675ms
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*/
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SetBounds(2.31, 1.55, 1.507, 1.454, .697);
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SetPeriodMultiplier(kPeriodMultiplier_1X);
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SetRaw(m_centerPwm);
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LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
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}
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/**
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* Set the PWM value.
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*
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* The PWM value is set using a range of -1.0 to 1.0, appropriately
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* scaling the value for the FPGA.
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*
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* @param speed The speed value between -1.0 and 1.0 to set.
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*/
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void Jaguar::Set(float speed) { SetSpeed(speed); }
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/**
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* Get the recently set value of the PWM.
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*
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* @return The most recently set value for the PWM between -1.0 and 1.0.
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*/
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float Jaguar::Get() const { return GetSpeed(); }
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/**
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* Common interface for disabling a motor.
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*/
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void Jaguar::Disable() { SetRaw(kPwmDisabled); }
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/**
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* Write out the PID value as seen in the PIDOutput base object.
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*
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* @param output Write out the PWM value as was found in the PIDController
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*/
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void Jaguar::PIDWrite(float output) { Set(output); }
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