mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
85 lines
2.9 KiB
C++
85 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. 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 "Victor.h"
|
|
|
|
#include "LiveWindow/LiveWindow.h"
|
|
|
|
/**
|
|
* Constructor for a Victor
|
|
* @param channel The PWM channel number that the Victor is attached to. 0-9 are
|
|
* on-board, 10-19 are on the MXP port
|
|
*/
|
|
Victor::Victor(uint32_t channel) : SafePWM(channel) {
|
|
/* Note that the Victor uses the following bounds for PWM values. These
|
|
* values were determined empirically and optimized for the Victor 888. These
|
|
* values should work reasonably well for Victor 884 controllers as well but
|
|
* if users experience issues such as asymmetric behaviour around the deadband
|
|
* or inability to saturate the controller in either direction, calibration is
|
|
* recommended. The calibration procedure can be found in the Victor 884 User
|
|
* Manual available from IFI.
|
|
*
|
|
* 2.027ms = full "forward"
|
|
* 1.525ms = the "high end" of the deadband range
|
|
* 1.507ms = center of the deadband range (off)
|
|
* 1.49ms = the "low end" of the deadband range
|
|
* 1.026ms = full "reverse"
|
|
*/
|
|
SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
|
|
SetPeriodMultiplier(kPeriodMultiplier_2X);
|
|
SetRaw(m_centerPwm);
|
|
SetZeroLatch();
|
|
|
|
LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
|
|
HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());
|
|
}
|
|
|
|
/**
|
|
* Set the PWM value.
|
|
*
|
|
* The PWM value is set using a range of -1.0 to 1.0, appropriately
|
|
* scaling the value for the FPGA.
|
|
*
|
|
* @param speed The speed value between -1.0 and 1.0 to set.
|
|
* @param syncGroup Unused interface.
|
|
*/
|
|
void Victor::Set(float speed, uint8_t syncGroup) {
|
|
SetSpeed(m_isInverted ? -speed : speed);
|
|
}
|
|
|
|
/**
|
|
* Get the recently set value of the PWM.
|
|
*
|
|
* @return The most recently set value for the PWM between -1.0 and 1.0.
|
|
*/
|
|
float Victor::Get() const { return GetSpeed(); }
|
|
|
|
/**
|
|
* Common interface for disabling a motor.
|
|
*/
|
|
void Victor::Disable() { SetRaw(kPwmDisabled); }
|
|
/**
|
|
* Common interface for inverting direction of a speed controller.
|
|
* @param isInverted The state of inversion, true is inverted.
|
|
*/
|
|
void Victor::SetInverted(bool isInverted) { m_isInverted = isInverted; }
|
|
|
|
/**
|
|
* Common interface for the inverting direction of a speed controller.
|
|
*
|
|
* @return isInverted The state of inversion, true is inverted.
|
|
*
|
|
*/
|
|
bool Victor::GetInverted() const { return m_isInverted; }
|
|
|
|
/**
|
|
* Write out the PID value as seen in the PIDOutput base object.
|
|
*
|
|
* @param output Write out the PWM value as was found in the PIDController
|
|
*/
|
|
void Victor::PIDWrite(float output) { Set(output); }
|