529 lines
23 KiB
C
529 lines
23 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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 "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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CtreMagEncoder_Relative = 6, //!< Cross The Road Electronics Magnetic Encoder in Absolute/PulseWidth Mode
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CtreMagEncoder_Absolute = 7, //!< Cross The Road Electronics Magnetic Encoder in Relative/Quadrature Mode
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PulseWidth = 8,
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};
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/**
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* Depending on the sensor type, Talon can determine if sensor is plugged in ot not.
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*/
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enum FeedbackDeviceStatus {
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FeedbackStatusUnknown = 0, //!< Sensor status could not be determined. Not all sensors can do this.
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FeedbackStatusPresent = 1, //!< Sensor is present and working okay.
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FeedbackStatusNotPresent = 2, //!< Sensor is not present, not plugged in, not powered, etc...
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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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StatusFrameRatePulseWidthMeas = 4,
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};
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/**
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* Enumerated types for Motion Control Set Values.
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* When in Motion Profile control mode, these constants are paseed
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* into set() to manipulate the motion profile executer.
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* When changing modes, be sure to read the value back using getMotionProfileStatus()
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* to ensure changes in output take effect before performing buffering actions.
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* Disable will signal Talon to put motor output into neutral drive.
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* Talon will stop processing motion profile points. This means the buffer is
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* effectively disconnected from the executer, allowing the robot to gracefully
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* clear and push new traj points. isUnderrun will get cleared.
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* The active trajectory is also cleared.
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* Enable will signal Talon to pop a trajectory point from it's buffer and process it.
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* If the active trajectory is empty, Talon will shift in the next point.
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* If the active traj is empty, and so is the buffer, the motor drive is neutral and
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* isUnderrun is set. When active traj times out, and buffer has at least one point,
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* Talon shifts in next one, and isUnderrun is cleared. When active traj times out,
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* and buffer is empty, Talon keeps processing active traj and sets IsUnderrun.
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* Hold will signal Talon keep processing the active trajectory indefinitely.
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* If the active traj is cleared, Talon will neutral motor drive. Otherwise
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* Talon will keep processing the active traj but it will not shift in
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* points from the buffer. This means the buffer is effectively disconnected
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* from the executer, allowing the robot to gracefully clear and push
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* new traj points.
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* isUnderrun is set if active traj is empty, otherwise it is cleared.
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* isLast signal is also cleared.
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*
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* Typical workflow:
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* set(Disable),
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* Confirm Disable takes effect,
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* clear buffer and push buffer points,
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* set(Enable) when enough points have been pushed to ensure no underruns,
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* wait for MP to finish or decide abort,
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* If MP finished gracefully set(Hold) to hold position servo and disconnect buffer,
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* If MP is being aborted set(Disable) to neutral the motor and disconnect buffer,
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* Confirm mode takes effect,
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* clear buffer and push buffer points, and rinse-repeat.
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*/
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enum SetValueMotionProfile {
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SetValueMotionProfileDisable = 0,
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SetValueMotionProfileEnable = 1,
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SetValueMotionProfileHold = 2,
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};
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/**
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* Motion Profile Trajectory Point
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* This is simply a data transer object.
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*/
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struct TrajectoryPoint {
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double position; //!< The position to servo to.
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double velocity; //!< The velocity to feed-forward.
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/**
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* Time in milliseconds to process this point.
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* Value should be between 1ms and 255ms. If value is zero
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* then Talon will default to 1ms. If value exceeds 255ms API will cap it.
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*/
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unsigned int timeDurMs;
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/**
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* Which slot to get PIDF gains.
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* PID is used for position servo.
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* F is used as the Kv constant for velocity feed-forward.
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* Typically this is hardcoded to the a particular slot, but you are free
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* gain schedule if need be.
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*/
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unsigned int profileSlotSelect;
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/**
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* Set to true to only perform the velocity feed-forward and not perform
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* position servo. This is useful when learning how the position servo
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* changes the motor response. The same could be accomplish by clearing the
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* PID gains, however this is synchronous the streaming, and doesn't require restoing
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* gains when finished.
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*
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* Additionaly setting this basically gives you direct control of the motor output
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* since motor output = targetVelocity X Kv, where Kv is our Fgain.
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* This means you can also scheduling straight-throttle curves without relying on
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* a sensor.
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*/
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bool velocityOnly;
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/**
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* Set to true to signal Talon that this is the final point, so do not
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* attempt to pop another trajectory point from out of the Talon buffer.
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* Instead continue processing this way point. Typically the velocity
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* member variable should be zero so that the motor doesn't spin indefinitely.
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*/
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bool isLastPoint;
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/**
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* Set to true to signal Talon to zero the selected sensor.
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* When generating MPs, one simple method is to make the first target position zero,
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* and the final target position the target distance from the current position.
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* Then when you fire the MP, the current position gets set to zero.
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* If this is the intent, you can set zeroPos on the first trajectory point.
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*
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* Otherwise you can leave this false for all points, and offset the positions
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* of all trajectory points so they are correct.
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*/
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bool zeroPos;
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};
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/**
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* Motion Profile Status
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* This is simply a data transer object.
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*/
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struct MotionProfileStatus {
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/**
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* The available empty slots in the trajectory buffer.
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*
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* The robot API holds a "top buffer" of trajectory points, so your applicaion
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* can dump several points at once. The API will then stream them into the Talon's
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* low-level buffer, allowing the Talon to act on them.
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*/
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unsigned int topBufferRem;
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/**
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* The number of points in the top trajectory buffer.
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*/
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unsigned int topBufferCnt;
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/**
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* The number of points in the low level Talon buffer.
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*/
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unsigned int btmBufferCnt;
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/**
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* Set if isUnderrun ever gets set.
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* Only is cleared by clearMotionProfileHasUnderrun() to ensure
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* robot logic can react or instrument it.
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* @see clearMotionProfileHasUnderrun()
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*/
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bool hasUnderrun;
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/**
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* This is set if Talon needs to shift a point from its buffer into
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* the active trajectory point however the buffer is empty. This gets cleared
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* automatically when is resolved.
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*/
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bool isUnderrun;
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/**
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* True if the active trajectory point has not empty, false otherwise.
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* The members in activePoint are only valid if this signal is set.
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*/
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bool activePointValid;
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/**
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* The number of points in the low level Talon buffer.
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*/
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TrajectoryPoint activePoint;
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/**
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* The current output mode of the motion profile executer (disabled, enabled, or hold).
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* When changing the set() value in MP mode, it's important to check this signal to
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* confirm the change takes effect before interacting with the top buffer.
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*/
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SetValueMotionProfile outputEnable;
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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 bool IsModePID(CANSpeedController::ControlMode mode) const override;
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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 void SetAllowableClosedLoopErr(uint32_t allowableCloseLoopError);
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virtual int GetAnalogIn() const;
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virtual void SetAnalogPosition(int newPosition);
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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 void SetEncPosition(int);
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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 int GetPulseWidthPosition() const;
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virtual void SetPulseWidthPosition(int newpos);
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virtual int GetPulseWidthVelocity() const;
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virtual int GetPulseWidthRiseToFallUs() const;
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virtual int GetPulseWidthRiseToRiseUs() const;
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virtual FeedbackDeviceStatus IsSensorPresent(FeedbackDevice feedbackDevice)const;
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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 void SetVoltageCompensationRampRate(double rampRate);
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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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void ConfigPeakOutputVoltage(double forwardVoltage,double reverseVoltage);
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void ConfigNominalOutputVoltage(double forwardVoltage,double reverseVoltage);
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/**
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* Enables Talon SRX to automatically zero the Sensor Position whenever an
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* edge is detected on the index signal.
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* @param enable boolean input, pass true to enable feature or false to disable.
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* @param risingEdge boolean input, pass true to clear the position on rising edge,
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* pass false to clear the position on falling edge.
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*/
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void EnableZeroSensorPositionOnIndex(bool enable, bool risingEdge);
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void ConfigSetParameter(uint32_t paramEnum, double value);
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bool GetParameter(uint32_t paramEnum, double & dvalue) const;
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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 SetClosedLoopOutputDirection(bool reverseOutput);
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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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/**
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* Calling application can opt to speed up the handshaking between the robot API and the Talon to increase the
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* download rate of the Talon's Motion Profile. Ideally the period should be no more than half the period
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* of a trajectory point.
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*/
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void ChangeMotionControlFramePeriod(int periodMs);
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/**
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* Clear the buffered motion profile in both Talon RAM (bottom), and in the API (top).
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|
* Be sure to check GetMotionProfileStatus() to know when the buffer is actually cleared.
|
||
|
|
*/
|
||
|
|
void ClearMotionProfileTrajectories();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Retrieve just the buffer count for the api-level (top) buffer.
|
||
|
|
* This routine performs no CAN or data structure lookups, so its fast and ideal
|
||
|
|
* if caller needs to quickly poll the progress of trajectory points being emptied
|
||
|
|
* into Talon's RAM. Otherwise just use GetMotionProfileStatus.
|
||
|
|
* @return number of trajectory points in the top buffer.
|
||
|
|
*/
|
||
|
|
int GetMotionProfileTopLevelBufferCount();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Push another trajectory point into the top level buffer (which is emptied into
|
||
|
|
* the Talon's bottom buffer as room allows).
|
||
|
|
* @param trajPt the trajectory point to insert into buffer.
|
||
|
|
* @return true if trajectory point push ok. CTR_BufferFull if buffer is full
|
||
|
|
* due to kMotionProfileTopBufferCapacity.
|
||
|
|
*/
|
||
|
|
bool PushMotionProfileTrajectory(const TrajectoryPoint & trajPt);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @return true if api-level (top) buffer is full.
|
||
|
|
*/
|
||
|
|
bool IsMotionProfileTopLevelBufferFull();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* This must be called periodically to funnel the trajectory points from the API's top level buffer to
|
||
|
|
* the Talon's bottom level buffer. Recommendation is to call this twice as fast as the executation rate of the motion profile.
|
||
|
|
* So if MP is running with 20ms trajectory points, try calling this routine every 10ms. All motion profile functions are thread-safe
|
||
|
|
* through the use of a mutex, so there is no harm in having the caller utilize threading.
|
||
|
|
*/
|
||
|
|
void ProcessMotionProfileBuffer();
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Retrieve all status information.
|
||
|
|
* Since this all comes from one CAN frame, its ideal to have one routine to retrieve the frame once and decode everything.
|
||
|
|
* @param [out] motionProfileStatus contains all progress information on the currently running MP.
|
||
|
|
*/
|
||
|
|
void GetMotionProfileStatus(MotionProfileStatus & motionProfileStatus);
|
||
|
|
|
||
|
|
/**
|
||
|
|
* Clear the hasUnderrun flag in Talon's Motion Profile Executer when MPE is ready for another point,
|
||
|
|
* but the low level buffer is empty.
|
||
|
|
*
|
||
|
|
* Once the Motion Profile Executer sets the hasUnderrun flag, it stays set until
|
||
|
|
* Robot Application clears it with this routine, which ensures Robot Application
|
||
|
|
* gets a chance to instrument or react. Caller could also check the isUnderrun flag
|
||
|
|
* which automatically clears when fault condition is removed.
|
||
|
|
*/
|
||
|
|
void ClearMotionProfileHasUnderrun();
|
||
|
|
|
||
|
|
// LiveWindow stuff.
|
||
|
|
void ValueChanged(ITable* source, llvm::StringRef key,
|
||
|
|
std::shared_ptr<nt::Value> value, bool isNew) override;
|
||
|
|
void UpdateTable() override;
|
||
|
|
void StartLiveWindowMode() override;
|
||
|
|
void StopLiveWindowMode() override;
|
||
|
|
std::string GetSmartDashboardType() const override;
|
||
|
|
void InitTable(std::shared_ptr<ITable> subTable) override;
|
||
|
|
std::shared_ptr<ITable> GetTable() const override;
|
||
|
|
|
||
|
|
// SpeedController overrides
|
||
|
|
virtual void SetInverted(bool isInverted) override;
|
||
|
|
virtual bool GetInverted() const override;
|
||
|
|
|
||
|
|
private:
|
||
|
|
// Values for various modes as is sent in the CAN packets for the Talon.
|
||
|
|
enum TalonControlMode {
|
||
|
|
kThrottle = 0,
|
||
|
|
kFollowerMode = 5,
|
||
|
|
kVoltageMode = 4,
|
||
|
|
kPositionMode = 1,
|
||
|
|
kSpeedMode = 2,
|
||
|
|
kCurrentMode = 3,
|
||
|
|
kMotionProfileMode = 6,
|
||
|
|
kDisabled = 15
|
||
|
|
};
|
||
|
|
|
||
|
|
int m_deviceNumber;
|
||
|
|
std::unique_ptr<CanTalonSRX> m_impl;
|
||
|
|
std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
|
||
|
|
int m_profile = 0; // Profile from CANTalon to use. Set to zero until we can
|
||
|
|
// actually test this.
|
||
|
|
|
||
|
|
bool m_controlEnabled = true;
|
||
|
|
ControlMode m_controlMode = kPercentVbus;
|
||
|
|
TalonControlMode m_sendMode;
|
||
|
|
|
||
|
|
double m_setPoint = 0;
|
||
|
|
/**
|
||
|
|
* Encoder CPR, counts per rotations, also called codes per revoluion.
|
||
|
|
* Default value of zero means the API behaves as it did during the 2015 season, each position
|
||
|
|
* unit is a single pulse and there are four pulses per count (4X).
|
||
|
|
* Caller can use ConfigEncoderCodesPerRev to set the quadrature encoder CPR.
|
||
|
|
*/
|
||
|
|
uint32_t m_codesPerRev = 0;
|
||
|
|
/**
|
||
|
|
* Number of turns per rotation. For example, a 10-turn pot spins ten full rotations from
|
||
|
|
* a wiper voltage of zero to 3.3 volts. Therefore knowing the
|
||
|
|
* number of turns a full voltage sweep represents is necessary for calculating rotations
|
||
|
|
* and velocity.
|
||
|
|
* A default value of zero means the API behaves as it did during the 2015 season, there are 1024
|
||
|
|
* position units from zero to 3.3V.
|
||
|
|
*/
|
||
|
|
uint32_t m_numPotTurns = 0;
|
||
|
|
/**
|
||
|
|
* Although the Talon handles feedback selection, caching the feedback selection is helpful at the API level
|
||
|
|
* for scaling into rotations and RPM.
|
||
|
|
*/
|
||
|
|
FeedbackDevice m_feedbackDevice = QuadEncoder;
|
||
|
|
|
||
|
|
static const unsigned int kDelayForSolicitedSignalsUs = 4000;
|
||
|
|
/**
|
||
|
|
* @param devToLookup FeedbackDevice to lookup the scalar for. Because Talon
|
||
|
|
* allows multiple sensors to be attached simultaneously, caller must
|
||
|
|
* specify which sensor to lookup.
|
||
|
|
* @return The number of native Talon units per rotation of the selected sensor.
|
||
|
|
* Zero if the necessary sensor information is not available.
|
||
|
|
* @see ConfigEncoderCodesPerRev
|
||
|
|
* @see ConfigPotentiometerTurns
|
||
|
|
*/
|
||
|
|
double GetNativeUnitsPerRotationScalar(FeedbackDevice devToLookup)const;
|
||
|
|
/**
|
||
|
|
* Fixup the sendMode so Set() serializes the correct demand value.
|
||
|
|
* Also fills the modeSelecet in the control frame to disabled.
|
||
|
|
* @param mode Control mode to ultimately enter once user calls Set().
|
||
|
|
* @see Set()
|
||
|
|
*/
|
||
|
|
void ApplyControlMode(CANSpeedController::ControlMode mode);
|
||
|
|
/**
|
||
|
|
* @param fullRotations double precision value representing number of rotations of selected feedback sensor.
|
||
|
|
* If user has never called the config routine for the selected sensor, then the caller
|
||
|
|
* is likely passing rotations in engineering units already, in which case it is returned
|
||
|
|
* as is.
|
||
|
|
* @see ConfigPotentiometerTurns
|
||
|
|
* @see ConfigEncoderCodesPerRev
|
||
|
|
* @return fullRotations in native engineering units of the Talon SRX firmware.
|
||
|
|
*/
|
||
|
|
int32_t ScaleRotationsToNativeUnits(FeedbackDevice devToLookup, double fullRotations) const;
|
||
|
|
/**
|
||
|
|
* @param rpm double precision value representing number of rotations per minute of selected feedback sensor.
|
||
|
|
* If user has never called the config routine for the selected sensor, then the caller
|
||
|
|
* is likely passing rotations in engineering units already, in which case it is returned
|
||
|
|
* as is.
|
||
|
|
* @see ConfigPotentiometerTurns
|
||
|
|
* @see ConfigEncoderCodesPerRev
|
||
|
|
* @return sensor velocity in native engineering units of the Talon SRX firmware.
|
||
|
|
*/
|
||
|
|
int32_t ScaleVelocityToNativeUnits(FeedbackDevice devToLookup, double rpm) const;
|
||
|
|
/**
|
||
|
|
* @param nativePos integral position of the feedback sensor in native Talon SRX units.
|
||
|
|
* If user has never called the config routine for the selected sensor, then the return
|
||
|
|
* will be in TALON SRX units as well to match the behavior in the 2015 season.
|
||
|
|
* @see ConfigPotentiometerTurns
|
||
|
|
* @see ConfigEncoderCodesPerRev
|
||
|
|
* @return double precision number of rotations, unless config was never performed.
|
||
|
|
*/
|
||
|
|
double ScaleNativeUnitsToRotations(FeedbackDevice devToLookup, int32_t nativePos) const;
|
||
|
|
/**
|
||
|
|
* @param nativeVel integral velocity of the feedback sensor in native Talon SRX units.
|
||
|
|
* If user has never called the config routine for the selected sensor, then the return
|
||
|
|
* will be in TALON SRX units as well to match the behavior in the 2015 season.
|
||
|
|
* @see ConfigPotentiometerTurns
|
||
|
|
* @see ConfigEncoderCodesPerRev
|
||
|
|
* @return double precision of sensor velocity in RPM, unless config was never performed.
|
||
|
|
*/
|
||
|
|
double ScaleNativeUnitsToRpm(FeedbackDevice devToLookup, int32_t nativeVel) const;
|
||
|
|
|
||
|
|
// LiveWindow stuff.
|
||
|
|
std::shared_ptr<ITable> m_table;
|
||
|
|
bool m_isInverted;
|
||
|
|
|
||
|
|
HasBeenMoved m_hasBeenMoved;
|
||
|
|
};
|