Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/CANSpeedController.h b/wpilibc/athena/include/CANSpeedController.h
new file mode 100644
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+++ b/wpilibc/athena/include/CANSpeedController.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2014-2017. 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 "SpeedController.h"
+
+namespace frc {
+
+/**
+ * Interface for "smart" CAN-based speed controllers.
+ */
+class CANSpeedController : public SpeedController {
+ public:
+ enum ControlMode {
+ kPercentVbus = 0,
+ kCurrent = 1,
+ kSpeed = 2,
+ kPosition = 3,
+ kVoltage = 4,
+ kFollower = 5,
+ kMotionProfile = 6,
+ };
+
+ // Helper function for the ControlMode enum
+ virtual bool IsModePID(ControlMode mode) const = 0;
+
+ enum Faults {
+ kCurrentFault = 1,
+ kTemperatureFault = 2,
+ kBusVoltageFault = 4,
+ kGateDriverFault = 8,
+ /* SRX extensions */
+ kFwdLimitSwitch = 0x10,
+ kRevLimitSwitch = 0x20,
+ kFwdSoftLimit = 0x40,
+ kRevSoftLimit = 0x80,
+ };
+
+ enum Limits { kForwardLimit = 1, kReverseLimit = 2 };
+
+ enum NeutralMode {
+ /** Use the NeutralMode that is set by the jumper wire on the CAN device */
+ kNeutralMode_Jumper = 0,
+ /** Stop the motor's rotation by applying a force. */
+ kNeutralMode_Brake = 1,
+ /** Do not attempt to stop the motor. Instead allow it to coast to a stop
+ without applying resistance. */
+ kNeutralMode_Coast = 2
+ };
+
+ enum LimitMode {
+ /** Only use switches for limits */
+ kLimitMode_SwitchInputsOnly = 0,
+ /** Use both switches and soft limits */
+ kLimitMode_SoftPositionLimits = 1,
+ /* SRX extensions */
+ /** Disable switches and disable soft limits */
+ kLimitMode_SrxDisableSwitchInputs = 2,
+ };
+
+ virtual double Get() const = 0;
+ virtual void Set(double value) = 0;
+ virtual void StopMotor() = 0;
+ virtual void Disable() = 0;
+ virtual void SetP(double p) = 0;
+ virtual void SetI(double i) = 0;
+ virtual void SetD(double d) = 0;
+ virtual void SetPID(double p, double i, double d) = 0;
+ virtual double GetP() const = 0;
+ virtual double GetI() const = 0;
+ virtual double GetD() const = 0;
+ virtual double GetBusVoltage() const = 0;
+ virtual double GetOutputVoltage() const = 0;
+ virtual double GetOutputCurrent() const = 0;
+ virtual double GetTemperature() const = 0;
+ virtual double GetPosition() const = 0;
+ virtual double GetSpeed() const = 0;
+ virtual bool GetForwardLimitOK() const = 0;
+ virtual bool GetReverseLimitOK() const = 0;
+ virtual uint16_t GetFaults() const = 0;
+ virtual void SetVoltageRampRate(double rampRate) = 0;
+ virtual int GetFirmwareVersion() const = 0;
+ virtual void ConfigNeutralMode(NeutralMode mode) = 0;
+ virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
+ virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
+ virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
+ double reverseLimitPosition) = 0;
+ virtual void DisableSoftPositionLimits() = 0;
+ virtual void ConfigLimitMode(LimitMode mode) = 0;
+ virtual void ConfigForwardLimit(double forwardLimitPosition) = 0;
+ virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
+ virtual void ConfigMaxOutputVoltage(double voltage) = 0;
+ virtual void ConfigFaultTime(double faultTime) = 0;
+ // Hold off on interface until we figure out ControlMode enums.
+ // virtual void SetControlMode(ControlMode mode) = 0;
+ // virtual ControlMode GetControlMode() const = 0;
+};
+
+} // namespace frc