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https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
130 lines
4.8 KiB
C++
130 lines
4.8 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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#pragma once
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#include <memory>
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#include "LiveWindow/LiveWindowSendable.h"
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#include "SensorBase.h"
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#include "tables/ITableListener.h"
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/**
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* Class implements the PWM generation in the FPGA.
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*
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* The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They
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* are mapped to the hardware dependent values, in this case 0-2000 for the
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* FPGA. Changes are immediately sent to the FPGA, and the update occurs at the
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* next FPGA cycle. There is no delay.
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*
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* As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-2000 values as
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* follows:
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* - 2000 = maximum pulse width
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* - 1999 to 1001 = linear scaling from "full forward" to "center"
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* - 1000 = center value
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* - 999 to 2 = linear scaling from "center" to "full reverse"
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* - 1 = minimum pulse width (currently .5ms)
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* - 0 = disabled (i.e. PWM output is held low)
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*/
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class PWM : public SensorBase,
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public ITableListener,
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public LiveWindowSendable {
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public:
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enum PeriodMultiplier {
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kPeriodMultiplier_1X = 1,
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kPeriodMultiplier_2X = 2,
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kPeriodMultiplier_4X = 4
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};
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explicit PWM(uint32_t channel);
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virtual ~PWM();
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virtual void SetRaw(unsigned short value);
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virtual unsigned short GetRaw() const;
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void SetPeriodMultiplier(PeriodMultiplier mult);
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void SetZeroLatch();
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void EnableDeadbandElimination(bool eliminateDeadband);
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void SetBounds(int32_t max, int32_t deadbandMax, int32_t center,
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int32_t deadbandMin, int32_t min);
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void SetBounds(double max, double deadbandMax, double center,
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double deadbandMin, double min);
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uint32_t GetChannel() const { return m_channel; }
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protected:
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/**
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* kDefaultPwmPeriod is in ms
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*
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* - 20ms periods (50 Hz) are the "safest" setting in that this works for all
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* devices
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* - 20ms periods seem to be desirable for Vex Motors
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* - 20ms periods are the specified period for HS-322HD servos, but work
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* reliably down to 10.0 ms; starting at about 8.5ms, the servo sometimes
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* hums and get hot; by 5.0ms the hum is nearly continuous
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* - 10ms periods work well for Victor 884
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* - 5ms periods allows higher update rates for Luminary Micro Jaguar speed
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* controllers. Due to the shipping firmware on the Jaguar, we can't run the
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* update period less than 5.05 ms.
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*
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* kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period
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* scaling is implemented as an output squelch to get longer periods for old
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* devices.
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*/
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static constexpr float kDefaultPwmPeriod = 5.05;
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/**
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* kDefaultPwmCenter is the PWM range center in ms
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*/
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static constexpr float kDefaultPwmCenter = 1.5;
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/**
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* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
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*/
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static const int32_t kDefaultPwmStepsDown = 1000;
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static const int32_t kPwmDisabled = 0;
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virtual void SetPosition(float pos);
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virtual float GetPosition() const;
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virtual void SetSpeed(float speed);
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virtual float GetSpeed() const;
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bool m_eliminateDeadband;
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int32_t m_maxPwm;
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int32_t m_deadbandMaxPwm;
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int32_t m_centerPwm;
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int32_t m_deadbandMinPwm;
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int32_t m_minPwm;
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, 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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std::shared_ptr<ITable> m_table;
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private:
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uint32_t m_channel;
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int32_t GetMaxPositivePwm() const { return m_maxPwm; }
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int32_t GetMinPositivePwm() const {
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return m_eliminateDeadband ? m_deadbandMaxPwm : m_centerPwm + 1;
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}
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int32_t GetCenterPwm() const { return m_centerPwm; }
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int32_t GetMaxNegativePwm() const {
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return m_eliminateDeadband ? m_deadbandMinPwm : m_centerPwm - 1;
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}
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int32_t GetMinNegativePwm() const { return m_minPwm; }
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int32_t GetPositiveScaleFactor() const {
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return GetMaxPositivePwm() - GetMinPositivePwm();
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} ///< The scale for positive speeds.
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int32_t GetNegativeScaleFactor() const {
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return GetMaxNegativePwm() - GetMinNegativePwm();
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} ///< The scale for negative speeds.
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int32_t GetFullRangeScaleFactor() const {
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return GetMaxPositivePwm() - GetMinNegativePwm();
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} ///< The scale for positions.
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};
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