Merge changes If91e63ce,I94daa069
* changes:
Create CopyPosition function for RelativePosition.
Create TalonFX motor contoller file in ahal.
diff --git a/frc971/wpilib/ahal/TalonFX.cc b/frc971/wpilib/ahal/TalonFX.cc
new file mode 100644
index 0000000..93dc62e
--- /dev/null
+++ b/frc971/wpilib/ahal/TalonFX.cc
@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 "frc971/wpilib/ahal/TalonFX.h"
+
+#include "hal/HAL.h"
+
+using namespace frc;
+
+/**
+ * Constructor for a TalonFX.
+ *
+ * @param channel The PWM channel that the TalonFX is attached to. 0-9 are
+ * on-board, 10-19 are on the MXP port
+ */
+TalonFX::TalonFX(int channel) : PWM(channel) {
+ /**
+ * Note that the TalonFX 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 TalonFX User
+ * Manual available from Vex.
+ *
+ * 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);
+ SetSpeed(0.0);
+ SetZeroLatch();
+
+ HAL_Report(HALUsageReporting::kResourceType_VictorSP, GetChannel());
+}
+
diff --git a/frc971/wpilib/ahal/TalonFX.h b/frc971/wpilib/ahal/TalonFX.h
new file mode 100644
index 0000000..0de0019
--- /dev/null
+++ b/frc971/wpilib/ahal/TalonFX.h
@@ -0,0 +1,23 @@
+
+/* Copyright (c) FIRST 2008-2017. 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 "frc971/wpilib/ahal/PWM.h"
+
+namespace frc {
+
+/**
+ * Vex Robotics Victor SP Speed Controller
+ */
+class TalonFX : public PWM {
+ public:
+ explicit TalonFX(int channel);
+ virtual ~TalonFX() = default;
+};
+
+} // namespace frc
diff --git a/frc971/wpilib/sensor_reader.h b/frc971/wpilib/sensor_reader.h
index 3e24fd7..25e7592 100644
--- a/frc971/wpilib/sensor_reader.h
+++ b/frc971/wpilib/sensor_reader.h
@@ -166,6 +166,18 @@
position->index_pulses = encoder.index_posedge_count();
}
+ // Copies a relative encoder.
+ void CopyPosition(const ::frc::Encoder &encoder,
+ ::frc971::RelativePositionT *position,
+ double encoder_counts_per_revolution, double encoder_ratio,
+ bool reverse) {
+ const double multiplier = reverse ? -1.0 : 1.0;
+ position->encoder =
+ multiplier * encoder_translate(encoder.GetRaw(),
+ encoder_counts_per_revolution,
+ encoder_ratio);
+ }
+
double encoder_translate(int32_t value, double counts_per_revolution,
double ratio) {
return static_cast<double>(value) / counts_per_revolution * ratio *