135 lines
4.8 KiB
C++
135 lines
4.8 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. 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 "SensorBase.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
#include "tables/ITableListener.h"
|
|
|
|
#include <memory>
|
|
|
|
/**
|
|
* Class implements the PWM generation in the FPGA.
|
|
*
|
|
* The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They
|
|
* are mapped
|
|
* to the hardware dependent values, in this case 0-2000 for the FPGA.
|
|
* Changes are immediately sent to the FPGA, and the update occurs at the next
|
|
* FPGA cycle. There is no delay.
|
|
*
|
|
* As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-2000 values as
|
|
* follows:
|
|
* - 2000 = maximum pulse width
|
|
* - 1999 to 1001 = linear scaling from "full forward" to "center"
|
|
* - 1000 = center value
|
|
* - 999 to 2 = linear scaling from "center" to "full reverse"
|
|
* - 1 = minimum pulse width (currently .5ms)
|
|
* - 0 = disabled (i.e. PWM output is held low)
|
|
*/
|
|
class PWM : public SensorBase,
|
|
public ITableListener,
|
|
public LiveWindowSendable {
|
|
public:
|
|
enum PeriodMultiplier {
|
|
kPeriodMultiplier_1X = 1,
|
|
kPeriodMultiplier_2X = 2,
|
|
kPeriodMultiplier_4X = 4
|
|
};
|
|
|
|
explicit PWM(uint32_t channel);
|
|
virtual ~PWM();
|
|
virtual void SetRaw(unsigned short value);
|
|
virtual unsigned short GetRaw() const;
|
|
void SetPeriodMultiplier(PeriodMultiplier mult);
|
|
void SetZeroLatch();
|
|
void EnableDeadbandElimination(bool eliminateDeadband);
|
|
void SetBounds(int32_t max, int32_t deadbandMax, int32_t center,
|
|
int32_t deadbandMin, int32_t min);
|
|
void SetBounds(double max, double deadbandMax, double center,
|
|
double deadbandMin, double min);
|
|
uint32_t GetChannel() const { return m_channel; }
|
|
|
|
protected:
|
|
/**
|
|
* kDefaultPwmPeriod is in ms
|
|
*
|
|
* - 20ms periods (50 Hz) are the "safest" setting in that this works for all
|
|
* devices
|
|
* - 20ms periods seem to be desirable for Vex Motors
|
|
* - 20ms periods are the specified period for HS-322HD servos, but work
|
|
* reliably down
|
|
* to 10.0 ms; starting at about 8.5ms, the servo sometimes hums and get
|
|
*hot;
|
|
* by 5.0ms the hum is nearly continuous
|
|
* - 10ms periods work well for Victor 884
|
|
* - 5ms periods allows higher update rates for Luminary Micro Jaguar speed
|
|
* controllers.
|
|
* Due to the shipping firmware on the Jaguar, we can't run the update
|
|
* period less
|
|
* than 5.05 ms.
|
|
*
|
|
* kDefaultPwmPeriod is the 1x period (5.05 ms). In hardware, the period
|
|
* scaling is implemented as an
|
|
* output squelch to get longer periods for old devices.
|
|
*/
|
|
static constexpr float kDefaultPwmPeriod = 5.05;
|
|
/**
|
|
* kDefaultPwmCenter is the PWM range center in ms
|
|
*/
|
|
static constexpr float kDefaultPwmCenter = 1.5;
|
|
/**
|
|
* kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
|
|
*/
|
|
static const int32_t kDefaultPwmStepsDown = 1000;
|
|
static const int32_t kPwmDisabled = 0;
|
|
|
|
virtual void SetPosition(float pos);
|
|
virtual float GetPosition() const;
|
|
virtual void SetSpeed(float speed);
|
|
virtual float GetSpeed() const;
|
|
|
|
bool m_eliminateDeadband;
|
|
int32_t m_maxPwm;
|
|
int32_t m_deadbandMaxPwm;
|
|
int32_t m_centerPwm;
|
|
int32_t m_deadbandMinPwm;
|
|
int32_t m_minPwm;
|
|
|
|
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;
|
|
|
|
std::shared_ptr<ITable> m_table;
|
|
|
|
private:
|
|
uint32_t m_channel;
|
|
int32_t GetMaxPositivePwm() const { return m_maxPwm; }
|
|
int32_t GetMinPositivePwm() const {
|
|
return m_eliminateDeadband ? m_deadbandMaxPwm : m_centerPwm + 1;
|
|
}
|
|
int32_t GetCenterPwm() const { return m_centerPwm; }
|
|
int32_t GetMaxNegativePwm() const {
|
|
return m_eliminateDeadband ? m_deadbandMinPwm : m_centerPwm - 1;
|
|
}
|
|
int32_t GetMinNegativePwm() const { return m_minPwm; }
|
|
int32_t GetPositiveScaleFactor() const {
|
|
return GetMaxPositivePwm() - GetMinPositivePwm();
|
|
} ///< The scale for positive speeds.
|
|
int32_t GetNegativeScaleFactor() const {
|
|
return GetMaxNegativePwm() - GetMinNegativePwm();
|
|
} ///< The scale for negative speeds.
|
|
int32_t GetFullRangeScaleFactor() const {
|
|
return GetMaxPositivePwm() - GetMinNegativePwm();
|
|
} ///< The scale for positions.
|
|
};
|