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https://github.com/wpilibsuite/allwpilib
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f65e697107
I'm not 100% sure whether we want these, but they are a quick find and replace to do. Basically, there are two primary things that we have done this summer that break existing user code: -Changing GetInstance() calls to return references instead of pointers. This forces users to change from doing something like LiveWindow::GetInstance()->AddSensor() to LiveWindow::GetInstance().AddSensor(). -Making PIDGet() and related calls const, forcing users to change the function signatures wherever they override them. The GetInstance() calls don't really matter to me either way, especially since there are no real ownership issues going on there, unlike the rest of the smart pointer-related changes. For the const stuff, it is certainly more correct to mandate that user PIDGet() functions be const and the such, but at the same time, I'm not sure that there is any strong need for it, and the errors generated are not the most helpful. While this wouldn't necessarily be an issue for more experienced teams or completely new teams (who don't have any old code to be reusing), it may cause issues for more average teams who aren't familiar with the intricacies of C++ anything. Change-Id: I6e7007982069292ea70e6d0fc8ca40203340df1b
211 lines
7.6 KiB
C++
211 lines
7.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. 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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#pragma once
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#include "SafePWM.h"
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#include "CANSpeedController.h"
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#include "PIDOutput.h"
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#include "PIDSource.h"
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#include "PIDInterface.h"
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#include "HAL/CanTalonSRX.h"
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#include "MotorSafetyHelper.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITable.h"
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#include <memory>
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/**
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* CTRE Talon SRX Speed Controller with CAN Control
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*/
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class CANTalon : public MotorSafety,
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public CANSpeedController,
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public ErrorBase,
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public LiveWindowSendable,
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public ITableListener,
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public PIDSource,
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public PIDInterface {
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public:
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enum FeedbackDevice {
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QuadEncoder = 0,
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AnalogPot = 2,
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AnalogEncoder = 3,
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EncRising = 4,
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EncFalling = 5
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};
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enum StatusFrameRate {
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StatusFrameRateGeneral = 0,
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StatusFrameRateFeedback = 1,
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StatusFrameRateQuadEncoder = 2,
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StatusFrameRateAnalogTempVbat = 3,
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};
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explicit CANTalon(int deviceNumber);
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explicit CANTalon(int deviceNumber, int controlPeriodMs);
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DEFAULT_MOVE_CONSTRUCTOR(CANTalon);
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virtual ~CANTalon();
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// PIDOutput interface
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virtual void PIDWrite(float output) override;
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// PIDSource interface
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virtual double PIDGet() override;
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// MotorSafety interface
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virtual void SetExpiration(float timeout) override;
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virtual float GetExpiration() const override;
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virtual bool IsAlive() const override;
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virtual void StopMotor() override;
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virtual void SetSafetyEnabled(bool enabled) override;
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virtual bool IsSafetyEnabled() const override;
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virtual void GetDescription(std::ostringstream& desc) const override;
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// CANSpeedController interface
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virtual float Get() const override;
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virtual void Set(float value, uint8_t syncGroup = 0) override;
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virtual void Reset() override;
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virtual void SetSetpoint(float value) override;
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virtual void Disable() override;
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virtual void EnableControl();
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virtual void Enable() override;
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virtual void SetP(double p) override;
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virtual void SetI(double i) override;
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virtual void SetD(double d) override;
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void SetF(double f);
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void SetIzone(unsigned iz);
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virtual void SetPID(double p, double i, double d) override;
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virtual void SetPID(double p, double i, double d, double f);
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virtual double GetP() const override;
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virtual double GetI() const override;
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virtual double GetD() const override;
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virtual double GetF() const;
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virtual float GetBusVoltage() const override;
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virtual float GetOutputVoltage() const override;
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virtual float GetOutputCurrent() const override;
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virtual float GetTemperature() const override;
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void SetPosition(double pos);
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virtual double GetPosition() const override;
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virtual double GetSpeed() const override;
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virtual int GetClosedLoopError() const;
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virtual int GetAnalogIn() const;
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virtual int GetAnalogInRaw() const;
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virtual int GetAnalogInVel() const;
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virtual int GetEncPosition() const;
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virtual int GetEncVel() const;
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int GetPinStateQuadA() const;
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int GetPinStateQuadB() const;
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int GetPinStateQuadIdx() const;
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int IsFwdLimitSwitchClosed() const;
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int IsRevLimitSwitchClosed() const;
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int GetNumberOfQuadIdxRises() const;
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void SetNumberOfQuadIdxRises(int rises);
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virtual bool GetForwardLimitOK() const override;
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virtual bool GetReverseLimitOK() const override;
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virtual uint16_t GetFaults() const override;
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uint16_t GetStickyFaults() const;
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void ClearStickyFaults();
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virtual void SetVoltageRampRate(double rampRate) override;
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virtual uint32_t GetFirmwareVersion() const override;
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virtual void ConfigNeutralMode(NeutralMode mode) override;
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virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
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virtual void ConfigPotentiometerTurns(uint16_t turns) override;
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virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
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double reverseLimitPosition) override;
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virtual void DisableSoftPositionLimits() override;
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virtual void ConfigLimitMode(LimitMode mode) override;
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virtual void ConfigForwardLimit(double forwardLimitPosition) override;
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virtual void ConfigReverseLimit(double reverseLimitPosition) override;
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/**
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* Change the fwd limit switch setting to normally open or closed.
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* Talon will disable momentarilly if the Talon's current setting
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* is dissimilar to the caller's requested setting.
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*
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* Since Talon saves setting to flash this should only affect
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* a given Talon initially during robot install.
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*
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* @param normallyOpen true for normally open. false for normally closed.
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*/
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void ConfigFwdLimitSwitchNormallyOpen(bool normallyOpen);
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/**
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* Change the rev limit switch setting to normally open or closed.
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* Talon will disable momentarilly if the Talon's current setting
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* is dissimilar to the caller's requested setting.
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*
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* Since Talon saves setting to flash this should only affect
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* a given Talon initially during robot install.
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*
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* @param normallyOpen true for normally open. false for normally closed.
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*/
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void ConfigRevLimitSwitchNormallyOpen(bool normallyOpen);
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virtual void ConfigMaxOutputVoltage(double voltage) override;
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virtual void ConfigFaultTime(float faultTime) override;
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virtual void SetControlMode(ControlMode mode);
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void SetFeedbackDevice(FeedbackDevice device);
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void SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs);
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virtual ControlMode GetControlMode() const;
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void SetSensorDirection(bool reverseSensor);
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void SetCloseLoopRampRate(double rampRate);
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void SelectProfileSlot(int slotIdx);
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int GetIzone() const;
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int GetIaccum() const;
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void ClearIaccum();
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int GetBrakeEnableDuringNeutral() const;
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bool IsControlEnabled() const;
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bool IsEnabled() const override;
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double GetSetpoint() const override;
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// LiveWindow stuff.
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void ValueChanged(std::shared_ptr<ITable> source, const std::string &key, EntryValue value,
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bool isNew) override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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// SpeedController overrides
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virtual void SetInverted(bool isInverted) override;
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virtual bool GetInverted() const override;
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private:
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// Values for various modes as is sent in the CAN packets for the Talon.
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enum TalonControlMode {
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kThrottle = 0,
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kFollowerMode = 5,
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kVoltageMode = 4,
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kPositionMode = 1,
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kSpeedMode = 2,
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kCurrentMode = 3,
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kDisabled = 15
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};
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int m_deviceNumber;
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std::unique_ptr<CanTalonSRX> m_impl;
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std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
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int m_profile = 0; // Profile from CANTalon to use. Set to zero until we can
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// actually test this.
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bool m_controlEnabled = true;
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ControlMode m_controlMode = kPercentVbus;
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TalonControlMode m_sendMode;
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double m_setPoint = 0;
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static const unsigned int kDelayForSolicitedSignalsUs = 4000;
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/**
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* Fixup the sendMode so Set() serializes the correct demand value.
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* Also fills the modeSelecet in the control frame to disabled.
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* @param mode Control mode to ultimately enter once user calls Set().
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* @see Set()
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*/
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void ApplyControlMode(CANSpeedController::ControlMode mode);
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// LiveWindow stuff.
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std::shared_ptr<ITable> m_table;
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bool m_isInverted;
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HasBeenMoved m_hasBeenMoved;
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};
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