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https://github.com/wpilibsuite/allwpilib
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5893d28f39
Tested analog PID in Java and C++. Changed to default to controlEnabled. Loosely wrapped a bunch of CanTalonSRX functions in Java. Change-Id: I9da380e2368d9a72f08be4434ac63b5710a9f90f
107 lines
3.6 KiB
C++
107 lines
3.6 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 "SafePWM.h"
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#include "CANSpeedController.h"
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#include "PIDOutput.h"
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#include "MotorSafetyHelper.h"
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class CanTalonSRX;
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/**
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* CTRE Talon SRX Speed Controller
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*/
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class CANTalon : public MotorSafety,
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public CANSpeedController,
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public ErrorBase
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{
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public:
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enum FeedbackDevice {
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QuadEncoder=0,
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AnalogPot=2,
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AnalogEncoder=3,
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EncRising=4,
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EncFalling=5
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};
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explicit CANTalon(int deviceNumber);
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virtual ~CANTalon();
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// PIDController interface
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virtual void PIDWrite(float output) override;
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// MotorSafety interface
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virtual void SetExpiration(float timeout) override;
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virtual float GetExpiration() override;
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virtual bool IsAlive() override;
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virtual void StopMotor() override;
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virtual void SetSafetyEnabled(bool enabled) override;
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virtual bool IsSafetyEnabled() override;
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virtual void GetDescription(char *desc) override;
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// CANSpeedController interface
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virtual float Get() override;
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virtual void Set(float value, uint8_t syncGroup=0) override;
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virtual void Disable() override;
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virtual void EnableControl();
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virtual void SetP(double p) override;
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virtual void SetI(double i) override;
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virtual void SetD(double d) override;
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virtual void SetPID(double p, double i, double d) override;
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virtual double GetP() override;
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virtual double GetI() override;
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virtual double GetD() override;
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virtual float GetBusVoltage() override;
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virtual float GetOutputVoltage() override;
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virtual float GetOutputCurrent() override;
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virtual float GetTemperature() override;
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virtual double GetPosition() override;
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virtual double GetSpeed() override;
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virtual int GetClosedLoopError();
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virtual int GetAnalogIn();
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virtual int GetAnalogInVel();
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virtual int GetEncPosition();
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virtual int GetEncVel();
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virtual bool GetForwardLimitOK() override;
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virtual bool GetReverseLimitOK() override;
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virtual uint16_t GetFaults() override;
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virtual void SetVoltageRampRate(double rampRate) override;
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virtual uint32_t GetFirmwareVersion() override;
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virtual void ConfigNeutralMode(NeutralMode mode) override;
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virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
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virtual void ConfigPotentiometerTurns(uint16_t turns) override;
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virtual void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition) override;
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virtual void DisableSoftPositionLimits() override;
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virtual void ConfigLimitMode(LimitMode mode) override;
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virtual void ConfigForwardLimit(double forwardLimitPosition) override;
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virtual void ConfigReverseLimit(double reverseLimitPosition) override;
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virtual void ConfigMaxOutputVoltage(double voltage) override;
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virtual void ConfigFaultTime(float faultTime) override;
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virtual void SetControlMode(ControlMode mode);
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void SetFeedbackDevice(FeedbackDevice device);
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virtual ControlMode GetControlMode();
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private:
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// Values for various modes as is sent in the CAN packets for the Talon.
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enum TalonControlMode {
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kThrottle=0,
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kFollowerMode=5,
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kVoltageMode=4,
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kPositionMode=1,
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kSpeedMode=2,
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kCurrentMode=3,
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kDisabled=15
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};
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int m_deviceNumber;
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CanTalonSRX *m_impl;
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MotorSafetyHelper *m_safetyHelper;
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int m_profile; // Profile from CANTalon to use. Set to zero until we can actually test this.
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bool m_controlEnabled;
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ControlMode m_controlMode;
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};
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