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https://github.com/wpilibsuite/allwpilib
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acb786a791
Most of the MotorSafety implementation was moved into the MotorSafety base class. SafePWM's inheritance of MotorSafety was moved into PWM to eliminate Java needing a helper class. In Java, a helper class for Sendable (SendableImpl) was added due to lack of multiple inheritance.
108 lines
2.9 KiB
C++
108 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2017-2018 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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#pragma once
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#include <atomic>
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#include "frc/DigitalOutput.h"
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#include "frc/ErrorBase.h"
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#include "frc/MotorSafety.h"
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#include "frc/PWM.h"
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#include "frc/SpeedController.h"
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#include "frc/smartdashboard/SendableBase.h"
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namespace frc {
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/**
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* Nidec Brushless Motor.
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*/
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class NidecBrushless : public SendableBase,
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public SpeedController,
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public MotorSafety {
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public:
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/**
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* Constructor.
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*
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* @param pwmChannel The PWM channel that the Nidec Brushless controller is
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* attached to. 0-9 are on-board, 10-19 are on the MXP port.
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* @param dioChannel The DIO channel that the Nidec Brushless controller is
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* attached to. 0-9 are on-board, 10-25 are on the MXP port.
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*/
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NidecBrushless(int pwmChannel, int dioChannel);
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~NidecBrushless() override = default;
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NidecBrushless(NidecBrushless&&) = default;
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NidecBrushless& operator=(NidecBrushless&&) = default;
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// SpeedController interface
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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 scaling
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* 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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*/
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void Set(double speed) override;
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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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double Get() const override;
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void SetInverted(bool isInverted) override;
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bool GetInverted() const override;
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/**
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* Disable the motor. The Enable() function must be called to re-enable the
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* motor.
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*/
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void Disable() override;
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/**
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* Re-enable the motor after Disable() has been called. The Set() function
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* must be called to set a new motor speed.
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*/
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void Enable();
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// PIDOutput interface
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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 PIDWrite(double output) override;
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// MotorSafety interface
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void StopMotor() override;
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void GetDescription(wpi::raw_ostream& desc) const override;
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/**
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* Gets the channel number associated with the object.
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*
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* @return The channel number.
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*/
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int GetChannel() const;
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// Sendable interface
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void InitSendable(SendableBuilder& builder) override;
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private:
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bool m_isInverted = false;
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std::atomic_bool m_disabled{false};
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DigitalOutput m_dio;
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PWM m_pwm;
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double m_speed = 0.0;
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};
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} // namespace frc
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