This is the latest WPILib src, VisionSample2013, cRIO image, ... pulled down from firstforge.wpi.edu.
There might be risks in using the top of tree rather than an official release, but the commit messages do mention fixes for some deadlocks and race conditions.
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4066 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/azaleasource/WPILibCProgramming/trunk/WPILib/PWM.h b/azaleasource/WPILibCProgramming/trunk/WPILib/PWM.h
new file mode 100644
index 0000000..205c6a1
--- /dev/null
+++ b/azaleasource/WPILibCProgramming/trunk/WPILib/PWM.h
@@ -0,0 +1,117 @@
+/*----------------------------------------------------------------------------*/
+/* 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. */
+/*----------------------------------------------------------------------------*/
+
+#ifndef PWM_H_
+#define PWM_H_
+
+#include "SensorBase.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "tables/ITableListener.h"
+
+class DigitalModule;
+
+/**
+ * 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 0-255 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 0-255 values as follows:
+ * - 255 = full "forward"
+ * - 254 to 129 = linear scaling from "full forward" to "center"
+ * - 128 = center value
+ * - 127 to 2 = linear scaling from "center" to "full reverse"
+ * - 1 = full "reverse"
+ * - 0 = disabled (i.e. PWM output is held low)
+ */
+class PWM : public SensorBase, public ITableListener, public LiveWindowSendable
+{
+ friend class DigitalModule;
+public:
+ typedef enum {kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4} PeriodMultiplier;
+
+ explicit PWM(UINT32 channel);
+ PWM(UINT8 moduleNumber, UINT32 channel);
+ virtual ~PWM();
+ virtual void SetRaw(UINT8 value);
+ virtual UINT8 GetRaw();
+ void SetPeriodMultiplier(PeriodMultiplier mult);
+ void EnableDeadbandElimination(bool eliminateDeadband);
+ void SetBounds(INT32 max, INT32 deadbandMax, INT32 center, INT32 deadbandMin, INT32 min);
+ UINT32 GetChannel() {return m_channel;}
+ UINT32 GetModuleNumber();
+
+protected:
+ /**
+ * kDefaultPwmPeriod is "ticks" where each tick is 6.525us
+ *
+ * - 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.
+ *
+ * Set to 5.05 ms period / 6.525us clock = 774
+ */
+ static const UINT32 kDefaultPwmPeriod = 774;
+
+ /**
+ * kDefaultMinPwmHigh is "ticks" where each tick is 6.525us
+ *
+ * - There are 128 pwm values less than the center, so...
+ * - The minimum output pulse length is 1.5ms - 128 * 6.525us = 0.665ms
+ * - 0.665ms / 6.525us per tick = 102
+ */
+ static const UINT32 kDefaultMinPwmHigh = 102;
+
+ static const INT32 kPwmDisabled = 0;
+
+ virtual void SetPosition(float pos);
+ virtual float GetPosition();
+ virtual void SetSpeed(float speed);
+ virtual float GetSpeed();
+
+ bool m_eliminateDeadband;
+ INT32 m_maxPwm;
+ INT32 m_deadbandMaxPwm;
+ INT32 m_centerPwm;
+ INT32 m_deadbandMinPwm;
+ INT32 m_minPwm;
+
+ void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
+ void UpdateTable();
+ void StartLiveWindowMode();
+ void StopLiveWindowMode();
+ std::string GetSmartDashboardType();
+ void InitTable(ITable *subTable);
+ ITable * GetTable();
+
+ ITable *m_table;
+
+private:
+ void InitPWM(UINT8 moduleNumber, UINT32 channel);
+ UINT32 m_channel;
+ DigitalModule *m_module;
+ INT32 GetMaxPositivePwm() { return m_maxPwm; };
+ INT32 GetMinPositivePwm() { return m_eliminateDeadband ? m_deadbandMaxPwm : m_centerPwm + 1; };
+ INT32 GetCenterPwm() { return m_centerPwm; };
+ INT32 GetMaxNegativePwm() { return m_eliminateDeadband ? m_deadbandMinPwm : m_centerPwm - 1; };
+ INT32 GetMinNegativePwm() { return m_minPwm; };
+ INT32 GetPositiveScaleFactor() {return GetMaxPositivePwm() - GetMinPositivePwm();} ///< The scale for positive speeds.
+ INT32 GetNegativeScaleFactor() {return GetMaxNegativePwm() - GetMinNegativePwm();} ///< The scale for negative speeds.
+ INT32 GetFullRangeScaleFactor() {return GetMaxPositivePwm() - GetMinNegativePwm();} ///< The scale for positions.
+};
+
+#endif