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9e99df1cf7
CANJaguar is the only motor controller using sync groups, so that feature doesn't belong in an interface used by all motor controllers. If teams want to use sync groups, they should cast to the appropriate motor controller type themselves.
67 lines
2.3 KiB
C++
67 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#include "Victor.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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* @param channel The PWM channel that the Victor is attached to.
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*/
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Victor::Victor(uint32_t channel) : SafePWM(channel) {
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/* Note that the Victor uses the following bounds for PWM values. These values
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* were determined empirically and optimized for the Victor 888. These values
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* should work reasonably well for Victor 884 controllers as well 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 Victor 884 User
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* Manual available from IFI.
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*
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* - 206 = full "forward"
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* - 131 = the "high end" of the deadband range
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* - 128 = center of the deadband range (off)
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* - 125 = the "low end" of the deadband range
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* - 56 = full "reverse"
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*/
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SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
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SetPeriodMultiplier(kPeriodMultiplier_2X);
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SetRaw(m_centerPwm);
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LiveWindow::GetInstance()->AddActuator("Victor", 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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*/
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void Victor::Set(float speed) { 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 Victor::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 Victor::Disable() { SetRaw(kPwmDisabled); }
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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 Victor::PIDWrite(float output) { Set(output); }
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