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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
105 lines
2.9 KiB
C++
105 lines
2.9 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 "Victor.h"
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#include "DigitalModule.h"
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//#include "NetworkCommunication/UsageReporting.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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* Note that the Victor uses the following bounds for PWM values. These values were determined
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* empirically and optimized for the Victor 888. These values should work reasonably well for
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* Victor 884 controllers as well but if users experience issues such as asymmetric behavior around
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* the deadband or inability to saturate the controller in either direction, calibration is recommended.
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* The calibration procedure can be found in the Victor 884 User Manual available from IFI.
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*
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* - 206 = full "forward"
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* - 131 = the "high end" of the deadband range
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* - 128 = center of the deadband range (off)
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* - 125 = the "low end" of the deadband range
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* - 56 = full "reverse"
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*/
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void Victor::InitVictor() {
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SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
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SetPeriodMultiplier(kPeriodMultiplier_2X);
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SetRaw(m_centerPwm);
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LiveWindow::GetInstance()->AddActuator("Victor", GetModuleNumber(), GetChannel(), this);
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HALReport(HALUsageReporting::kResourceType_Victor, GetChannel(), GetModuleNumber() - 1);
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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 Victor is attached to.
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*/
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Victor::Victor(uint32_t channel) : SafePWM(channel)
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{
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InitVictor();
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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 Victor is attached to (1..10).
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*/
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Victor::Victor(uint8_t moduleNumber, uint32_t channel) : SafePWM(moduleNumber, channel)
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{
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InitVictor();
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}
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Victor::~Victor()
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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 Victor::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 Victor::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 Victor::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 Victor::PIDWrite(float output)
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{
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Set(output);
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}
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