commit cd622d5b4b9bef1aaa91e974a860d2802dc44627
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Wed Nov 22 20:44:04 2023 -0800
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Sat Dec 02 14:12:33 2023 -0800
tree 706b7dd31d4df0d1fb70a7f0830c8bfae4061783
parent e9ea8a5c1c0760a5cb8f2b660a8138e96e45ee6b
parent b13e13f43101a4dd3b9665015eca2d3770eb734a

Update allwpilib and CTRE Phoenix6 libraries

Notes:
* Ran into https://github.com/CrossTheRoadElec/Phoenix-Releases/issues/55
* Some HAL functions changed names/units: https://github.com/wpilibsuite/allwpilib/pull/5283

Tested on third robot; confirmed that CAN drivetrain motors worked (both
in terms of reporting position & enabling/running). Also checked:
* Joysticks work.
* Auto/Teleop modes work.
* Red/blue alliance setting wrks.
* Quadrature encoders and PWM pulse width reading works.

Remaining thing to check when we can:
* That PWM outputs work.
* That reading potentiometers works.
* More rigorous timing investigations.

Change-Id: Idc4ff798c644f1c0e9c0fc74156a3ea1447872e8
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

frc971/wpilib/ahal/PWM.cc

diff --git a/frc971/wpilib/ahal/PWM.cc b/frc971/wpilib/ahal/PWM.cc
index 3c42bc4..72219aa 100644
--- a/frc971/wpilib/ahal/PWM.cc
+++ b/frc971/wpilib/ahal/PWM.cc
@@ -103,8 +103,9 @@
 void PWM::SetBounds(double max, double deadbandMax, double center,
                     double deadbandMin, double min) {
   int32_t status = 0;
-  HAL_SetPWMConfig(m_handle, max, deadbandMax, center, deadbandMin, min,
-                   &status);
+  HAL_SetPWMConfigMicroseconds(m_handle, max * 1000.0, deadbandMax * 1000.0,
+                               center * 1000.0, deadbandMin * 1000.0,
+                               min * 1000.0, &status);
   HAL_CHECK_STATUS(status);
 }
 
@@ -124,8 +125,9 @@
 void PWM::SetRawBounds(int max, int deadbandMax, int center, int deadbandMin,
                        int min) {
   int32_t status = 0;
-  HAL_SetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
-                      &status);
+  HAL_SetPWMConfigMicroseconds(m_handle, max * 1000, deadbandMax * 1000,
+                               center * 1000, deadbandMin * 1000, min * 1000,
+                               &status);
   HAL_CHECK_STATUS(status);
 }
 
@@ -136,6 +138,8 @@
  * controller. The values determine the upper and lower speeds as well as the
  * deadband bracket.
  *
+ * Values in microseconds.
+ *
  * @param max         The Minimum pwm value
  * @param deadbandMax The high end of the deadband range
  * @param center      The center speed (off)
@@ -145,8 +149,8 @@
 void PWM::GetRawBounds(int *max, int *deadbandMax, int *center,
                        int *deadbandMin, int *min) {
   int32_t status = 0;
-  HAL_GetPWMConfigRaw(m_handle, max, deadbandMax, center, deadbandMin, min,
-                      &status);
+  HAL_GetPWMConfigMicroseconds(m_handle, max, deadbandMax, center, deadbandMin,
+                               min, &status);
   HAL_CHECK_STATUS(status);
 }
 
@@ -230,7 +234,7 @@
  */
 void PWM::SetRaw(uint16_t value) {
   int32_t status = 0;
-  HAL_SetPWMRaw(m_handle, value, &status);
+  HAL_SetPWMPulseTimeMicroseconds(m_handle, value, &status);
   HAL_CHECK_STATUS(status);
 }
 
@@ -243,7 +247,7 @@
  */
 uint16_t PWM::GetRaw() const {
   int32_t status = 0;
-  uint16_t value = HAL_GetPWMRaw(m_handle, &status);
+  uint16_t value = HAL_GetPWMPulseTimeMicroseconds(m_handle, &status);
   HAL_CHECK_STATUS(status);
 
   return value;