mirror of
https://github.com/wpilibsuite/allwpilib
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b417d961ec
The non-NT portion has been moved to wpiutil. The NT portion has been moved to ntcore (as NTSendable). SendableBuilder similarly split and moved. SendableRegistry moved to wpiutil. In C++, SendableHelper also moved to wpiutil. This enables use of Sendable from wpimath and also enables moving several classes from wpilib to wpimath.
81 lines
2.0 KiB
C++
81 lines
2.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/motorcontrol/NidecBrushless.h"
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#include <fmt/format.h>
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#include <hal/FRCUsageReporting.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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using namespace frc;
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NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
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: m_dio(dioChannel), m_pwm(pwmChannel) {
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auto& registry = wpi::SendableRegistry::GetInstance();
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registry.AddChild(this, &m_dio);
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registry.AddChild(this, &m_pwm);
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SetExpiration(0_s);
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SetSafetyEnabled(false);
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// the dio controls the output (in PWM mode)
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m_dio.SetPWMRate(15625);
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m_dio.EnablePWM(0.5);
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HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel + 1);
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registry.AddLW(this, "Nidec Brushless", pwmChannel);
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}
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void NidecBrushless::Set(double speed) {
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if (!m_disabled) {
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m_speed = speed;
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m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
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m_pwm.SetRaw(0xffff);
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}
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Feed();
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}
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double NidecBrushless::Get() const {
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return m_speed;
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}
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void NidecBrushless::SetInverted(bool isInverted) {
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m_isInverted = isInverted;
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}
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bool NidecBrushless::GetInverted() const {
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return m_isInverted;
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}
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void NidecBrushless::Disable() {
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m_disabled = true;
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m_dio.UpdateDutyCycle(0.5);
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m_pwm.SetDisabled();
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}
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void NidecBrushless::Enable() {
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m_disabled = false;
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}
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void NidecBrushless::StopMotor() {
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m_dio.UpdateDutyCycle(0.5);
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m_pwm.SetDisabled();
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}
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std::string NidecBrushless::GetDescription() const {
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return fmt::format("Nidec {}", GetChannel());
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}
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int NidecBrushless::GetChannel() const {
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return m_pwm.GetChannel();
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}
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void NidecBrushless::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Nidec Brushless");
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builder.SetActuator(true);
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builder.SetSafeState([=] { StopMotor(); });
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builder.AddDoubleProperty(
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"Value", [=] { return Get(); }, [=](double value) { Set(value); });
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}
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