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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
137 lines
4.7 KiB
C++
137 lines
4.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2009. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef CANJAGUAR_H
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#define CANJAGUAR_H
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#include "ErrorBase.h"
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#include "MotorSafety.h"
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#include "MotorSafetyHelper.h"
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#include "PIDOutput.h"
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#include "SpeedController.h"
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#include "HAL/Semaphore.h"
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#include "HAL/HAL.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITable.h"
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/**
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* Luminary Micro Jaguar Speed Control
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*/
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class CANJaguar : public MotorSafety,
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public SpeedController,
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public ErrorBase,
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public LiveWindowSendable,
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public ITableListener
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{
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public:
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// The internal PID control loop in the Jaguar runs at 1kHz.
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static const int32_t kControllerRate = 1000;
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static constexpr double kApproxBusVoltage = 12.0;
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typedef enum {kPercentVbus, kCurrent, kSpeed, kPosition, kVoltage} ControlMode;
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typedef enum {kCurrentFault = 1, kTemperatureFault = 2, kBusVoltageFault = 4, kGateDriverFault = 8} Faults;
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typedef enum {kForwardLimit = 1, kReverseLimit = 2} Limits;
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typedef enum {kPosRef_QuadEncoder = 0, kPosRef_Potentiometer = 1, kPosRef_None = 0xFF} PositionReference;
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typedef enum {kSpeedRef_Encoder = 0, kSpeedRef_InvEncoder = 2, kSpeedRef_QuadEncoder = 3, kSpeedRef_None = 0xFF} SpeedReference;
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typedef enum {kNeutralMode_Jumper = 0, kNeutralMode_Brake = 1, kNeutralMode_Coast = 2} NeutralMode;
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typedef enum {kLimitMode_SwitchInputsOnly = 0, kLimitMode_SoftPositionLimits = 1} LimitMode;
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explicit CANJaguar(uint8_t deviceNumber, ControlMode controlMode = kPercentVbus);
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virtual ~CANJaguar();
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// SpeedController interface
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virtual float Get();
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virtual void Set(float value, uint8_t syncGroup=0);
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virtual void Disable();
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// PIDOutput interface
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virtual void PIDWrite(float output);
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// Other Accessors
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void SetSpeedReference(SpeedReference reference);
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SpeedReference GetSpeedReference();
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void SetPositionReference(PositionReference reference);
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PositionReference GetPositionReference();
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void SetPID(double p, double i, double d);
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double GetP();
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double GetI();
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double GetD();
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void EnableControl(double encoderInitialPosition = 0.0);
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void DisableControl();
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void ChangeControlMode(ControlMode controlMode);
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ControlMode GetControlMode();
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float GetBusVoltage();
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float GetOutputVoltage();
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float GetOutputCurrent();
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float GetTemperature();
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double GetPosition();
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double GetSpeed();
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bool GetForwardLimitOK();
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bool GetReverseLimitOK();
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uint16_t GetFaults();
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bool GetPowerCycled();
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void SetVoltageRampRate(double rampRate);
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virtual uint32_t GetFirmwareVersion();
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uint8_t GetHardwareVersion();
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void ConfigNeutralMode(NeutralMode mode);
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void ConfigEncoderCodesPerRev(uint16_t codesPerRev);
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void ConfigPotentiometerTurns(uint16_t turns);
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void ConfigSoftPositionLimits(double forwardLimitPosition, double reverseLimitPosition);
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void DisableSoftPositionLimits();
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void ConfigMaxOutputVoltage(double voltage);
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void ConfigFaultTime(float faultTime);
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static void UpdateSyncGroup(uint8_t syncGroup);
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void SetExpiration(float timeout);
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float GetExpiration();
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bool IsAlive();
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void StopMotor();
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bool IsSafetyEnabled();
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void SetSafetyEnabled(bool enabled);
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void GetDescription(char *desc);
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protected:
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uint8_t packPercentage(uint8_t *buffer, double value);
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uint8_t packFXP8_8(uint8_t *buffer, double value);
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uint8_t packFXP16_16(uint8_t *buffer, double value);
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uint8_t packint16_t(uint8_t *buffer, int16_t value);
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uint8_t packint32_t(uint8_t *buffer, int32_t value);
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double unpackPercentage(uint8_t *buffer);
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double unpackFXP8_8(uint8_t *buffer);
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double unpackFXP16_16(uint8_t *buffer);
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int16_t unpackint16_t(uint8_t *buffer);
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int32_t unpackint32_t(uint8_t *buffer);
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virtual void setTransaction(uint32_t messageID, const uint8_t *data, uint8_t dataSize);
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virtual void getTransaction(uint32_t messageID, uint8_t *data, uint8_t *dataSize);
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static int32_t sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize);
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static int32_t receiveMessage(uint32_t *messageID, uint8_t *data, uint8_t *dataSize, float timeout = 0.02);
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uint8_t m_deviceNumber;
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ControlMode m_controlMode;
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MUTEX_ID m_transactionSemaphore;
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double m_maxOutputVoltage;
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MotorSafetyHelper *m_safetyHelper;
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void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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ITable *m_table;
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private:
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void InitCANJaguar();
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};
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#endif
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