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e2cc9e0059
The HAL will only contain the output period and the raw microseconds. Higher level things such as SimDevice can handle everything else.
113 lines
3.0 KiB
C++
113 lines
3.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <hal/SimDevice.h>
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#include <units/angle.h>
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#include "frc/PWM.h"
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namespace frc {
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namespace sim {
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class ServoSim;
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} // namespace sim
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/**
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* Standard hobby style servo.
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*
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* The range parameters default to the appropriate values for the Hitec HS-322HD
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* servo provided in the FIRST Kit of Parts in 2008.
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*/
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class Servo : public wpi::Sendable, public wpi::SendableHelper<Servo> {
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public:
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friend class frc::sim::ServoSim;
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/**
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* Constructor.
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*
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* By default, 2.4 ms is used as the max PWM value and 0.6 ms is used as the
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* min PWM value.
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*
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* @param channel The PWM channel to which the servo is attached. 0-9 are
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* on-board, 10-19 are on the MXP port
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*/
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explicit Servo(int channel);
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Servo(Servo&&) = default;
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Servo& operator=(Servo&&) = default;
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/**
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* Set the servo position.
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*
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* Servo values range from 0.0 to 1.0 corresponding to the range of full left
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* to full right.
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*
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* @param value Position from 0.0 to 1.0.
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*/
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void Set(double value);
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/**
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* Get the servo position.
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*
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* Servo values range from 0.0 to 1.0 corresponding to the range of full left
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* to full right. This returns the commanded position, not the position that
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* the servo is actually at, as the servo does not report its own position.
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*
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* @return Position from 0.0 to 1.0.
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*/
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double Get() const;
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/**
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* Set the servo angle.
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*
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* The angles are based on the HS-322HD Servo, and have a range of 0 to 180
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* degrees.
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*
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* Servo angles that are out of the supported range of the servo simply
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* "saturate" in that direction. In other words, if the servo has a range of
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* (X degrees to Y degrees) than angles of less than X result in an angle of
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* X being set and angles of more than Y degrees result in an angle of Y being
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* set.
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*
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* @param angle The angle in degrees to set the servo.
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*/
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void SetAngle(double angle);
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/**
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* Get the servo angle.
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*
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* This returns the commanded angle, not the angle that the servo is actually
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* at, as the servo does not report its own angle.
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*
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* @return The angle in degrees to which the servo is set.
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*/
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double GetAngle() const;
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int GetChannel() const;
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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static double GetServoAngleRange();
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units::microsecond_t GetFullRangeScaleFactor() const;
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static constexpr double kMaxServoAngle = 180.0;
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static constexpr double kMinServoAngle = 0.0;
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static constexpr units::millisecond_t kDefaultMaxServoPWM = 2.4_ms;
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static constexpr units::millisecond_t kDefaultMinServoPWM = 0.6_ms;
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units::millisecond_t m_maxPwm = kDefaultMaxServoPWM;
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units::millisecond_t m_minPwm = kDefaultMinServoPWM;
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hal::SimDevice m_simDevice;
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hal::SimDouble m_simPosition;
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PWM m_pwm;
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};
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} // namespace frc
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