54 lines
1.8 KiB
C
54 lines
1.8 KiB
C
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/*----------------------------------------------------------------------------*/
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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 "SafePWM.h"
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#include "SpeedController.h"
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#include <memory>
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/**
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* Standard hobby style servo.
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*
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* The range parameters default to the appropriate values for the Hitec HS-322HD
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* servo provided
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* in the FIRST Kit of Parts in 2008.
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*/
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class Servo : public SafePWM {
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public:
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explicit Servo(uint32_t channel);
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virtual ~Servo();
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void Set(float value);
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void SetOffline();
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float Get() const;
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void SetAngle(float angle);
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float GetAngle() const;
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static float GetMaxAngle() { return kMaxServoAngle; }
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static float GetMinAngle() { return kMinServoAngle; }
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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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float GetServoAngleRange() const { return kMaxServoAngle - kMinServoAngle; }
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static constexpr float kMaxServoAngle = 180.0;
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static constexpr float kMinServoAngle = 0.0;
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static constexpr float kDefaultMaxServoPWM = 2.4;
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static constexpr float kDefaultMinServoPWM = .6;
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};
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