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https://github.com/wpilibsuite/allwpilib
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cd5765559a
- CANJaguar also touched up to report it can't do the new control mode (just like with follower). - New third optional param for talon c'tor to speed up enable control frame. - The pulse width routines have been moved to where the script generator puts them. No actual changes there but should help Peter integrate the latest code generator. Last feature additions for TalonSRX HAL for FRC2015-FRC-2016 season. -HAL driver uses control_5 frame if firmware supports it. This allows teams to see/confirm control settings taking effect before enabling the robot. For example selecting the sensor type and going to web-dash to check sensor values now works without having to enable the robot. -Motion profile HAL routines added. Tested on Single-Speed Double reduction (with slave Talon too). -Start moving ctre frame defs into a new common header (better then shoving a bunch of struct defs at top of module). -New child class in CANTalonSRX for buffering motion profile points. Not sure it would be best to leave it as is or make another module. It's trivial now so I thought that was acceptable, (in future it will likely possess compression strategies => no longer trivial). Change-Id: I803680c1a6669ca3f5157d7875942def6f75b540
113 lines
4.0 KiB
C++
113 lines
4.0 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 "SpeedController.h"
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/**
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* Interface for "smart" CAN-based speed controllers.
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* @see CANJaguar
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* @see CANTalon
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*/
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class CANSpeedController : public SpeedController {
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public:
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enum ControlMode {
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kPercentVbus = 0,
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kCurrent = 1,
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kSpeed = 2,
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kPosition = 3,
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kVoltage = 4,
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kFollower = 5, // Not supported in Jaguar.
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kMotionProfile = 6, // Not supported in Jaguar.
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};
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// Helper function for the ControlMode enum
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std::string GetModeName(ControlMode mode) {
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switch(mode) {
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case kPercentVbus: return "PercentVbus";
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case kCurrent: return "Current";
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case kSpeed: return "Speed";
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case kPosition: return "Position";
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case kVoltage: return "Voltage";
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case kFollower: return "Follower";
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default: return "[unknown control mode]";
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}
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}
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// Helper function for the ControlMode enum
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virtual bool IsModePID(ControlMode mode) const = 0;
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enum Faults {
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kCurrentFault = 1,
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kTemperatureFault = 2,
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kBusVoltageFault = 4,
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kGateDriverFault = 8,
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/* SRX extensions */
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kFwdLimitSwitch = 0x10,
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kRevLimitSwitch = 0x20,
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kFwdSoftLimit = 0x40,
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kRevSoftLimit = 0x80,
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};
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enum Limits { kForwardLimit = 1, kReverseLimit = 2 };
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enum NeutralMode {
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/** Use the NeutralMode that is set by the jumper wire on the CAN device */
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kNeutralMode_Jumper = 0,
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/** Stop the motor's rotation by applying a force. */
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kNeutralMode_Brake = 1,
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/** Do not attempt to stop the motor. Instead allow it to coast to a stop
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without applying resistance. */
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kNeutralMode_Coast = 2
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};
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enum LimitMode {
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/** Only use switches for limits */
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kLimitMode_SwitchInputsOnly = 0,
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/** Use both switches and soft limits */
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kLimitMode_SoftPositionLimits = 1,
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/* SRX extensions */
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/** Disable switches and disable soft limits */
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kLimitMode_SrxDisableSwitchInputs = 2,
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};
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virtual float Get() const = 0;
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virtual void Set(float value, uint8_t syncGroup = 0) = 0;
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virtual void Disable() = 0;
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virtual void SetP(double p) = 0;
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virtual void SetI(double i) = 0;
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virtual void SetD(double d) = 0;
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virtual void SetPID(double p, double i, double d) = 0;
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virtual double GetP() const = 0;
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virtual double GetI() const = 0;
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virtual double GetD() const = 0;
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virtual float GetBusVoltage() const = 0;
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virtual float GetOutputVoltage() const = 0;
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virtual float GetOutputCurrent() const = 0;
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virtual float GetTemperature() const = 0;
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virtual double GetPosition() const = 0;
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virtual double GetSpeed() const = 0;
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virtual bool GetForwardLimitOK() const = 0;
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virtual bool GetReverseLimitOK() const = 0;
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virtual uint16_t GetFaults() const = 0;
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virtual void SetVoltageRampRate(double rampRate) = 0;
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virtual uint32_t GetFirmwareVersion() const = 0;
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virtual void ConfigNeutralMode(NeutralMode mode) = 0;
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virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
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virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
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virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
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double reverseLimitPosition) = 0;
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virtual void DisableSoftPositionLimits() = 0;
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virtual void ConfigLimitMode(LimitMode mode) = 0;
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virtual void ConfigForwardLimit(double forwardLimitPosition) = 0;
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virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
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virtual void ConfigMaxOutputVoltage(double voltage) = 0;
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virtual void ConfigFaultTime(float faultTime) = 0;
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// Hold off on interface until we figure out ControlMode enums.
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// virtual void SetControlMode(ControlMode mode) = 0;
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// virtual ControlMode GetControlMode() const = 0;
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};
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