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534ea134a4
This deals with the majority of the user-facing code in wpilibC++Devices and a substantial portion of it in wpilibC++. wpilibC++Sim and wpilibC++IntegrationTests are untouched except where it is necessary to make them work with the rest of the libraries. There is still a lot to do in the following areas: -The HAL (which we may not want to touch at all). -The I2C, Serial, and SPI interfaces in wpilibC++Devices, which I haven't gotten around to doing yet. -Most wpilibC++Devices classes have void* pointers for interacting with the HAL. -InterruptableSensorBase passes a void *params for the interrupt handler. -I haven't converted all the const char* to std::strings. -There are plenty of other cases of raw pointers still existing. -This doesn't fall directly under raw pointer stuff, but move syntax and rvalue references could be introduced in many places. -I haven't touched vision code. -The Resource classes conflict (one is in the hal, the other in wpilibC++). Someone should figure out a more permanent fix (eg, just renaming them), then doing what I did (making a new namespace for one of them, essentially the same as renaming it). A few other things: -I created a NullDeleter class which is marked as deprecated. What this does is it can be passed as the deleter to a std::shared_ptr so that when you are converting raw pointers to shared_ptrs the shared_ptr doesn't do any deletion if someone else owns the raw pointer. This should only be used in making old raw pointer UIs. -I had to alter the build.gradle so that it did not emit errors when deprecated functions called deprecated functions. Unfortunately, gradle doesn't appear to be actually printing out gcc warnigns for some reason. The best way I have found to fix this is to patch the toolchains (https://bitbucket.org/byteit101/toolchain-builder/pull-request/5/make-gcc-not-throw-warnings-for-nested/diff) so that a deprecated function calling a deprecated function is fine but a non-deprecated function calling a deprecated function will throw a warning (which we then elevate with -Werror). I believe that clang deals with this properly, although I have not tried it myself. Change-Id: Ib8090c66893576fe73654f4e9d268f9d37be06a2
83 lines
2.8 KiB
C++
83 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 "TalonSRX.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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* Construct a TalonSRX connected via PWM
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* @param channel The PWM channel that the TalonSRX is attached to. 0-9 are
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* on-board, 10-19 are on the MXP port
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*/
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TalonSRX::TalonSRX(uint32_t channel) : SafePWM(channel) {
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/* Note that the TalonSRX uses the following bounds for PWM values. These
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* values should work reasonably well for most controllers, but if users
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* experience issues such as asymmetric behavior around the deadband or
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* inability to saturate the controller in either direction, calibration is
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* recommended. The calibration procedure can be found in the TalonSRX User
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* Manual available from Cross The Road Electronics.
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* 2.004ms = full "forward"
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* 1.52ms = the "high end" of the deadband range
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* 1.50ms = center of the deadband range (off)
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* 1.48ms = the "low end" of the deadband range
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* 0.997ms = full "reverse"
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*/
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SetBounds(2.004, 1.52, 1.50, 1.48, .997);
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SetPeriodMultiplier(kPeriodMultiplier_1X);
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SetRaw(m_centerPwm);
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SetZeroLatch();
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HALReport(HALUsageReporting::kResourceType_TalonSRX, GetChannel());
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LiveWindow::GetInstance().AddActuator("TalonSRX", GetChannel(), this);
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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 TalonSRX::Set(float speed, uint8_t syncGroup) { SetSpeed(speed); }
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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 TalonSRX::Get() const { return GetSpeed(); }
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/**
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* Common interface for disabling a motor.
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*/
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void TalonSRX::Disable() { SetRaw(kPwmDisabled); }
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/**
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* Common interface for inverting direction of a speed controller.
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* @param isInverted The state of inversion, true is inverted.
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*/
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void TalonSRX::SetInverted(bool isInverted) { m_isInverted = isInverted; }
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/**
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* Common interface for the inverting direction of a speed controller.
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*
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* @return isInverted The state of inversion, true is inverted.
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*
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*/
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bool TalonSRX::GetInverted() const { return m_isInverted; }
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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 TalonSRX::PIDWrite(float output) { Set(output); }
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