mirror of
https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
102 lines
2.6 KiB
C++
102 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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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#include "Jaguar.h"
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//#include "NetworkCommunication/UsageReporting.h"
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#include "DigitalModule.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Common initialization code called by all constructors.
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*/
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void Jaguar::InitJaguar()
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{
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/*
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* Input profile defined by Luminary Micro.
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*
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* Full reverse ranges from 0.671325ms to 0.6972211ms
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* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
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* Neutral ranges from 1.4482078ms to 1.5517922ms
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* Proportional forward ranges from 1.5517922ms to 2.3027789ms
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* Full forward ranges from 2.3027789ms to 2.328675ms
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*/
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SetBounds(2.31, 1.55, 1.507, 1.454, .697);
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SetPeriodMultiplier(kPeriodMultiplier_1X);
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SetRaw(m_centerPwm);
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HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel(), GetModuleNumber() - 1);
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LiveWindow::GetInstance()->AddActuator("Jaguar", GetModuleNumber(), GetChannel(), this);
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}
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/**
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* Constructor that assumes the default digital module.
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*
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* @param channel The PWM channel on the digital module that the Jaguar is attached to.
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*/
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Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
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{
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InitJaguar();
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}
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/**
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* Constructor that specifies the digital module.
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*
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* @param moduleNumber The digital module (1 or 2).
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* @param channel The PWM channel on the digital module that the Jaguar is attached to.
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*/
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Jaguar::Jaguar(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
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{
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InitJaguar();
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}
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Jaguar::~Jaguar()
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{
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}
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/**
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* Set the PWM value.
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*
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* The PWM value is set using a range of -1.0 to 1.0, appropriately
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* scaling the value for the FPGA.
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*
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* @param speed The speed value between -1.0 and 1.0 to set.
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* @param syncGroup Unused interface.
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*/
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void Jaguar::Set(float speed, uint8_t syncGroup)
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{
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SetSpeed(speed);
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}
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/**
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* Get the recently set value of the PWM.
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*
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* @return The most recently set value for the PWM between -1.0 and 1.0.
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*/
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float Jaguar::Get()
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{
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return GetSpeed();
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}
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/**
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* Common interface for disabling a motor.
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*/
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void Jaguar::Disable()
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{
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SetRaw(kPwmDisabled);
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}
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/**
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* Write out the PID value as seen in the PIDOutput base object.
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*
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* @param output Write out the PWM value as was found in the PIDController
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*/
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void Jaguar::PIDWrite(float output)
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{
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Set(output);
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}
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