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/sim/include/PWM.h b/wpilibc/sim/include/PWM.h
new file mode 100644
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+++ b/wpilibc/sim/include/PWM.h
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+/*----------------------------------------------------------------------------*/
+/* 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 <memory>
+#include <string>
+
+#include "LiveWindow/LiveWindowSendable.h"
+#include "SensorBase.h"
+#include "simulation/SimContinuousOutput.h"
+#include "tables/ITableListener.h"
+
+namespace frc {
+
+/**
+ * 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 {
+ public:
+ enum PeriodMultiplier {
+ kPeriodMultiplier_1X = 1,
+ kPeriodMultiplier_2X = 2,
+ kPeriodMultiplier_4X = 4
+ };
+
+ explicit PWM(int channel);
+ virtual ~PWM();
+ virtual void SetRaw(uint16_t value);
+ void SetPeriodMultiplier(PeriodMultiplier mult);
+ void EnableDeadbandElimination(bool eliminateDeadband);
+ void SetBounds(int max, int deadbandMax, int center, int deadbandMin,
+ int min);
+ void SetBounds(double max, double deadbandMax, double center,
+ double deadbandMin, double min);
+ int GetChannel() const { return m_channel; }
+
+ protected:
+ /**
+ * kDefaultPwmPeriod is in ms
+ *
+ * - 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.
+ */
+ static const double kDefaultPwmPeriod;
+ /**
+ * kDefaultPwmCenter is the PWM range center in ms
+ */
+ static const double kDefaultPwmCenter;
+ /**
+ * kDefaultPWMStepsDown is the number of PWM steps below the centerpoint
+ */
+ static const int kDefaultPwmStepsDown;
+ static const int kPwmDisabled;
+
+ virtual void SetPosition(double pos);
+ virtual double GetPosition() const;
+ virtual void SetSpeed(double speed);
+ virtual double GetSpeed() const;
+
+ bool m_eliminateDeadband;
+ int m_centerPwm;
+
+ void ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) override;
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ std::shared_ptr<ITable> m_table;
+
+ private:
+ int m_channel;
+ SimContinuousOutput* impl;
+};
+
+} // namespace frc