wpilibc/Athena/src/TalonSRX.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#include "TalonSRX.h"

#include "LiveWindow/LiveWindow.h"

/**
 * Construct a TalonSRX connected via PWM
 * @param channel The PWM channel that the TalonSRX is attached to. 0-9 are
 * on-board, 10-19 are on the MXP port
 */
TalonSRX::TalonSRX(uint32_t channel) : SafePWM(channel) {
  /* Note that the TalonSRX uses the following bounds for PWM values. These
   * values should work reasonably well for most controllers, but if users
   * experience issues such as asymmetric behavior around the deadband or
   * inability to saturate the controller in either direction, calibration is
   * recommended. The calibration procedure can be found in the TalonSRX User
   * Manual available from Cross The Road Electronics.
   *   2.004ms = full "forward"
   *   1.52ms = the "high end" of the deadband range
   *   1.50ms = center of the deadband range (off)
   *   1.48ms = the "low end" of the deadband range
   *   0.997ms = full "reverse"
   */
  SetBounds(2.004, 1.52, 1.50, 1.48, .997);
  SetPeriodMultiplier(kPeriodMultiplier_1X);
  SetRaw(m_centerPwm);
  SetZeroLatch();

  HALReport(HALUsageReporting::kResourceType_TalonSRX, GetChannel());
  LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this);
}

/**
 * Set the PWM value.
 *
 * The PWM value is set using a range of -1.0 to 1.0, appropriately
 * scaling the value for the FPGA.
 *
 * @param speed The speed value between -1.0 and 1.0 to set.
 * @param syncGroup Unused interface.
 */
void TalonSRX::Set(float speed, uint8_t syncGroup) { SetSpeed(speed); }

/**
 * Get the recently set value of the PWM.
 *
 * @return The most recently set value for the PWM between -1.0 and 1.0.
 */
float TalonSRX::Get() const { return GetSpeed(); }

/**
 * Common interface for disabling a motor.
 */
void TalonSRX::Disable() { SetRaw(kPwmDisabled); }

/**
* Common interface for inverting direction of a speed controller.
* @param isInverted The state of inversion, true is inverted.
*/
void TalonSRX::SetInverted(bool isInverted) { m_isInverted = isInverted; }

/**
 * Common interface for the inverting direction of a speed controller.
 *
 * @return isInverted The state of inversion, true is inverted.
 *
 */
bool TalonSRX::GetInverted() const { return m_isInverted; }

/**
 * Write out the PID value as seen in the PIDOutput base object.
 *
 * @param output Write out the PWM value as was found in the PIDController
 */
void TalonSRX::PIDWrite(float output) { Set(output); }