This repository has been archived on 2020-09-21. You can view files and clone it, but cannot push or open issues or pull requests.
FRC2016-old/Robot2016/wpilib/cpp/current/include/CANSpeedController.h

102 lines
3.7 KiB
C
Raw Normal View History

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "SpeedController.h"
/**
* Interface for "smart" CAN-based speed controllers.
* @see CANJaguar
* @see CANTalon
*/
class CANSpeedController : public SpeedController {
public:
enum ControlMode {
kPercentVbus = 0,
kCurrent = 1,
kSpeed = 2,
kPosition = 3,
kVoltage = 4,
kFollower = 5, // Not supported in Jaguar.
kMotionProfile = 6, // Not supported in Jaguar.
};
// Helper function for the ControlMode enum
virtual bool IsModePID(ControlMode mode) const = 0;
enum Faults {
kCurrentFault = 1,
kTemperatureFault = 2,
kBusVoltageFault = 4,
kGateDriverFault = 8,
/* SRX extensions */
kFwdLimitSwitch = 0x10,
kRevLimitSwitch = 0x20,
kFwdSoftLimit = 0x40,
kRevSoftLimit = 0x80,
};
enum Limits { kForwardLimit = 1, kReverseLimit = 2 };
enum NeutralMode {
/** Use the NeutralMode that is set by the jumper wire on the CAN device */
kNeutralMode_Jumper = 0,
/** Stop the motor's rotation by applying a force. */
kNeutralMode_Brake = 1,
/** Do not attempt to stop the motor. Instead allow it to coast to a stop
without applying resistance. */
kNeutralMode_Coast = 2
};
enum LimitMode {
/** Only use switches for limits */
kLimitMode_SwitchInputsOnly = 0,
/** Use both switches and soft limits */
kLimitMode_SoftPositionLimits = 1,
/* SRX extensions */
/** Disable switches and disable soft limits */
kLimitMode_SrxDisableSwitchInputs = 2,
};
virtual float Get() const = 0;
virtual void Set(float value, uint8_t syncGroup = 0) = 0;
virtual void Disable() = 0;
virtual void SetP(double p) = 0;
virtual void SetI(double i) = 0;
virtual void SetD(double d) = 0;
virtual void SetPID(double p, double i, double d) = 0;
virtual double GetP() const = 0;
virtual double GetI() const = 0;
virtual double GetD() const = 0;
virtual float GetBusVoltage() const = 0;
virtual float GetOutputVoltage() const = 0;
virtual float GetOutputCurrent() const = 0;
virtual float GetTemperature() const = 0;
virtual double GetPosition() const = 0;
virtual double GetSpeed() const = 0;
virtual bool GetForwardLimitOK() const = 0;
virtual bool GetReverseLimitOK() const = 0;
virtual uint16_t GetFaults() const = 0;
virtual void SetVoltageRampRate(double rampRate) = 0;
virtual uint32_t GetFirmwareVersion() const = 0;
virtual void ConfigNeutralMode(NeutralMode mode) = 0;
virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
double reverseLimitPosition) = 0;
virtual void DisableSoftPositionLimits() = 0;
virtual void ConfigLimitMode(LimitMode mode) = 0;
virtual void ConfigForwardLimit(double forwardLimitPosition) = 0;
virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
virtual void ConfigMaxOutputVoltage(double voltage) = 0;
virtual void ConfigFaultTime(float faultTime) = 0;
// Hold off on interface until we figure out ControlMode enums.
// virtual void SetControlMode(ControlMode mode) = 0;
// virtual ControlMode GetControlMode() const = 0;
};