| Brian Silverman | 26e4e52 | 2015-12-17 01:56:40 -0500 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. |
| 3 | */ |
| 4 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 5 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "TalonSRX.h" |
| 9 | |
| 10 | #include "LiveWindow/LiveWindow.h" |
| 11 | |
| 12 | /** |
| 13 | * Construct a TalonSRX connected via PWM |
| 14 | * @param channel The PWM channel that the TalonSRX is attached to. 0-9 are |
| 15 | * on-board, 10-19 are on the MXP port |
| 16 | */ |
| 17 | TalonSRX::TalonSRX(uint32_t channel) : SafePWM(channel) { |
| 18 | /* Note that the TalonSRX uses the following bounds for PWM values. These |
| 19 | * values should work reasonably well for most controllers, but if users |
| 20 | * experience issues such as asymmetric behavior around the deadband or |
| 21 | * inability to saturate the controller in either direction, calibration is |
| 22 | * recommended. The calibration procedure can be found in the TalonSRX User |
| 23 | * Manual available from Cross The Road Electronics. |
| 24 | * 2.004ms = full "forward" |
| 25 | * 1.52ms = the "high end" of the deadband range |
| 26 | * 1.50ms = center of the deadband range (off) |
| 27 | * 1.48ms = the "low end" of the deadband range |
| 28 | * 0.997ms = full "reverse" |
| 29 | */ |
| 30 | SetBounds(2.004, 1.52, 1.50, 1.48, .997); |
| 31 | SetPeriodMultiplier(kPeriodMultiplier_1X); |
| 32 | SetRaw(m_centerPwm); |
| 33 | SetZeroLatch(); |
| 34 | |
| 35 | HALReport(HALUsageReporting::kResourceType_TalonSRX, GetChannel()); |
| 36 | LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this); |
| 37 | } |
| 38 | |
| 39 | /** |
| 40 | * Set the PWM value. |
| 41 | * |
| 42 | * The PWM value is set using a range of -1.0 to 1.0, appropriately |
| 43 | * scaling the value for the FPGA. |
| 44 | * |
| 45 | * @param speed The speed value between -1.0 and 1.0 to set. |
| 46 | * @param syncGroup Unused interface. |
| 47 | */ |
| 48 | void TalonSRX::Set(float speed, uint8_t syncGroup) { SetSpeed(speed); } |
| 49 | |
| 50 | /** |
| 51 | * Get the recently set value of the PWM. |
| 52 | * |
| 53 | * @return The most recently set value for the PWM between -1.0 and 1.0. |
| 54 | */ |
| 55 | float TalonSRX::Get() const { return GetSpeed(); } |
| 56 | |
| 57 | /** |
| 58 | * Common interface for disabling a motor. |
| 59 | */ |
| 60 | void TalonSRX::Disable() { SetRaw(kPwmDisabled); } |
| 61 | |
| 62 | /** |
| 63 | * Common interface for inverting direction of a speed controller. |
| 64 | * @param isInverted The state of inversion, true is inverted. |
| 65 | */ |
| 66 | void TalonSRX::SetInverted(bool isInverted) { m_isInverted = isInverted; } |
| 67 | |
| 68 | /** |
| 69 | * Common interface for the inverting direction of a speed controller. |
| 70 | * |
| 71 | * @return isInverted The state of inversion, true is inverted. |
| 72 | * |
| 73 | */ |
| 74 | bool TalonSRX::GetInverted() const { return m_isInverted; } |
| 75 | |
| 76 | /** |
| 77 | * Write out the PID value as seen in the PIDOutput base object. |
| 78 | * |
| 79 | * @param output Write out the PWM value as was found in the PIDController |
| 80 | */ |
| 81 | void TalonSRX::PIDWrite(float output) { Set(output); } |