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https://github.com/wpilibsuite/allwpilib
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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.
76 lines
2.3 KiB
C++
76 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2019 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/NidecBrushless.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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NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
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: m_dio(dioChannel), m_pwm(pwmChannel) {
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auto& registry = 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(0.0);
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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);
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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 { return m_speed; }
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void NidecBrushless::SetInverted(bool isInverted) { m_isInverted = isInverted; }
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bool NidecBrushless::GetInverted() const { return m_isInverted; }
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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() { m_disabled = false; }
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void NidecBrushless::PIDWrite(double output) { Set(output); }
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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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void NidecBrushless::GetDescription(wpi::raw_ostream& desc) const {
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desc << "Nidec " << GetChannel();
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}
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int NidecBrushless::GetChannel() const { return m_pwm.GetChannel(); }
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void NidecBrushless::InitSendable(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("Value", [=]() { return Get(); },
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[=](double value) { Set(value); });
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}
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