mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
9bcff37b93
Cleans up error writing, and allows fewer headers to be included in many of the wpilibc cpp files. This removes all usages of the hal/HAL.h header.
76 lines
2.4 KiB
C++
76 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2017-2019 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "frc/NidecBrushless.h"
|
|
|
|
#include <hal/FRCUsageReporting.h>
|
|
|
|
#include "frc/smartdashboard/SendableBuilder.h"
|
|
#include "frc/smartdashboard/SendableRegistry.h"
|
|
|
|
using namespace frc;
|
|
|
|
NidecBrushless::NidecBrushless(int pwmChannel, int dioChannel)
|
|
: m_dio(dioChannel), m_pwm(pwmChannel) {
|
|
auto& registry = SendableRegistry::GetInstance();
|
|
registry.AddChild(this, &m_dio);
|
|
registry.AddChild(this, &m_pwm);
|
|
SetExpiration(0.0);
|
|
SetSafetyEnabled(false);
|
|
|
|
// the dio controls the output (in PWM mode)
|
|
m_dio.SetPWMRate(15625);
|
|
m_dio.EnablePWM(0.5);
|
|
|
|
HAL_Report(HALUsageReporting::kResourceType_NidecBrushless, pwmChannel + 1);
|
|
registry.AddLW(this, "Nidec Brushless", pwmChannel);
|
|
}
|
|
|
|
void NidecBrushless::Set(double speed) {
|
|
if (!m_disabled) {
|
|
m_speed = speed;
|
|
m_dio.UpdateDutyCycle(0.5 + 0.5 * (m_isInverted ? -speed : speed));
|
|
m_pwm.SetRaw(0xffff);
|
|
}
|
|
Feed();
|
|
}
|
|
|
|
double NidecBrushless::Get() const { return m_speed; }
|
|
|
|
void NidecBrushless::SetInverted(bool isInverted) { m_isInverted = isInverted; }
|
|
|
|
bool NidecBrushless::GetInverted() const { return m_isInverted; }
|
|
|
|
void NidecBrushless::Disable() {
|
|
m_disabled = true;
|
|
m_dio.UpdateDutyCycle(0.5);
|
|
m_pwm.SetDisabled();
|
|
}
|
|
|
|
void NidecBrushless::Enable() { m_disabled = false; }
|
|
|
|
void NidecBrushless::PIDWrite(double output) { Set(output); }
|
|
|
|
void NidecBrushless::StopMotor() {
|
|
m_dio.UpdateDutyCycle(0.5);
|
|
m_pwm.SetDisabled();
|
|
}
|
|
|
|
void NidecBrushless::GetDescription(wpi::raw_ostream& desc) const {
|
|
desc << "Nidec " << GetChannel();
|
|
}
|
|
|
|
int NidecBrushless::GetChannel() const { return m_pwm.GetChannel(); }
|
|
|
|
void NidecBrushless::InitSendable(SendableBuilder& builder) {
|
|
builder.SetSmartDashboardType("Nidec Brushless");
|
|
builder.SetActuator(true);
|
|
builder.SetSafeState([=]() { StopMotor(); });
|
|
builder.AddDoubleProperty("Value", [=]() { return Get(); },
|
|
[=](double value) { Set(value); });
|
|
}
|