Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/wpilibc/src/main/native/cpp/Servo.cpp b/wpilibc/src/main/native/cpp/Servo.cpp
new file mode 100644
index 0000000..b4c9eb5
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/Servo.cpp
@@ -0,0 +1,65 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2008-2018 FIRST. 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/Servo.h"
+
+#include <hal/HAL.h>
+
+#include "frc/smartdashboard/SendableBuilder.h"
+
+using namespace frc;
+
+constexpr double Servo::kMaxServoAngle;
+constexpr double Servo::kMinServoAngle;
+
+constexpr double Servo::kDefaultMaxServoPWM;
+constexpr double Servo::kDefaultMinServoPWM;
+
+Servo::Servo(int channel) : PWM(channel) {
+ // Set minimum and maximum PWM values supported by the servo
+ SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
+
+ // Assign defaults for period multiplier for the servo PWM control signal
+ SetPeriodMultiplier(kPeriodMultiplier_4X);
+
+ HAL_Report(HALUsageReporting::kResourceType_Servo, channel);
+ SetName("Servo", channel);
+}
+
+void Servo::Set(double value) { SetPosition(value); }
+
+void Servo::SetOffline() { SetRaw(0); }
+
+double Servo::Get() const { return GetPosition(); }
+
+void Servo::SetAngle(double degrees) {
+ if (degrees < kMinServoAngle) {
+ degrees = kMinServoAngle;
+ } else if (degrees > kMaxServoAngle) {
+ degrees = kMaxServoAngle;
+ }
+
+ SetPosition((degrees - kMinServoAngle) / GetServoAngleRange());
+}
+
+double Servo::GetAngle() const {
+ return GetPosition() * GetServoAngleRange() + kMinServoAngle;
+}
+
+double Servo::GetMaxAngle() const { return kMaxServoAngle; }
+
+double Servo::GetMinAngle() const { return kMinServoAngle; }
+
+void Servo::InitSendable(SendableBuilder& builder) {
+ builder.SetSmartDashboardType("Servo");
+ builder.AddDoubleProperty("Value", [=]() { return Get(); },
+ [=](double value) { Set(value); });
+}
+
+double Servo::GetServoAngleRange() const {
+ return kMaxServoAngle - kMinServoAngle;
+}