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471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
37 lines
1.6 KiB
C++
37 lines
1.6 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/PWMTalonSRX.h"
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#include <hal/HAL.h>
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#include "frc/smartdashboard/SendableRegistry.h"
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using namespace frc;
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PWMTalonSRX::PWMTalonSRX(int channel) : PWMSpeedController(channel) {
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/* Note that the PWMTalonSRX uses the following bounds for PWM values. These
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* values should work reasonably well for most controllers, but if users
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* experience issues such as asymmetric behavior around the deadband or
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* inability to saturate the controller in either direction, calibration is
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* recommended. The calibration procedure can be found in the TalonSRX User
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* Manual available from Cross The Road Electronics.
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* 2.004ms = full "forward"
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* 1.52ms = the "high end" of the deadband range
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* 1.50ms = center of the deadband range (off)
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* 1.48ms = the "low end" of the deadband range
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* 0.997ms = full "reverse"
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*/
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SetBounds(2.004, 1.52, 1.50, 1.48, .997);
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SetPeriodMultiplier(kPeriodMultiplier_1X);
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SetSpeed(0.0);
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SetZeroLatch();
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HAL_Report(HALUsageReporting::kResourceType_PWMTalonSRX, GetChannel());
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SendableRegistry::GetInstance().SetName(this, "PWMTalonSRX", GetChannel());
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}
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