mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
44 lines
1.6 KiB
C++
44 lines
1.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 FIRST. 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 "Spark.h"
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#include <HAL/HAL.h>
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using namespace frc;
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/**
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* Note that the Spark uses the following bounds for PWM values. These values
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* should work reasonably well for most controllers, but if users experience
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* issues such as asymmetric behavior around the deadband or inability to
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* saturate the controller in either direction, calibration is recommended.
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* The calibration procedure can be found in the Spark User Manual available
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* from REV Robotics.
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*
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* 2.003ms = full "forward"
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* 1.55ms = the "high end" of the deadband range
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* 1.50ms = center of the deadband range (off)
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* 1.46ms = the "low end" of the deadband range
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* 0.999ms = full "reverse"
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*/
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/**
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* Constructor for a Spark.
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*
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* @param channel The PWM channel that the Spark is attached to. 0-9 are
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* on-board, 10-19 are on the MXP port
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*/
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Spark::Spark(int channel) : PWMSpeedController(channel) {
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SetBounds(2.003, 1.55, 1.50, 1.46, .999);
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SetPeriodMultiplier(kPeriodMultiplier_1X);
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SetSpeed(0.0);
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SetZeroLatch();
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HAL_Report(HALUsageReporting::kResourceType_RevSPARK, GetChannel());
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SetName("Spark", GetChannel());
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}
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