135 lines
4.8 KiB
C
135 lines
4.8 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 "SensorBase.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITableListener.h"
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#include <memory>
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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
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* to the hardware dependent values, in this case 0-2000 for the FPGA.
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* Changes are immediately sent to the FPGA, and the update occurs at the next
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* 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
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* to 10.0 ms; starting at about 8.5ms, the servo sometimes hums and get
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*hot;
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* 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.
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* Due to the shipping firmware on the Jaguar, we can't run the update
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* period less
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* 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
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* output squelch to get longer periods for old 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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