| Brian Silverman | 26e4e52 | 2015-12-17 01:56:40 -0500 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */ |
| 5 | /*----------------------------------------------------------------------------*/ |
| 6 | |
| 7 | |
| 8 | #include "Jaguar.h" |
| 9 | //#include "NetworkCommunication/UsageReporting.h" |
| 10 | #include "LiveWindow/LiveWindow.h" |
| 11 | |
| 12 | /** |
| 13 | * @param channel The PWM channel that the Jaguar is attached to. |
| 14 | */ |
| 15 | Jaguar::Jaguar(uint32_t channel) : SafePWM(channel) |
| 16 | { |
| 17 | /* |
| 18 | * Input profile defined by Luminary Micro. |
| 19 | * |
| 20 | * Full reverse ranges from 0.671325ms to 0.6972211ms |
| 21 | * Proportional reverse ranges from 0.6972211ms to 1.4482078ms |
| 22 | * Neutral ranges from 1.4482078ms to 1.5517922ms |
| 23 | * Proportional forward ranges from 1.5517922ms to 2.3027789ms |
| 24 | * Full forward ranges from 2.3027789ms to 2.328675ms |
| 25 | */ |
| 26 | SetBounds(2.31, 1.55, 1.507, 1.454, .697); |
| 27 | SetPeriodMultiplier(kPeriodMultiplier_1X); |
| 28 | SetRaw(m_centerPwm); |
| 29 | |
| 30 | LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this); |
| 31 | } |
| 32 | |
| 33 | /** |
| 34 | * Set the PWM value. |
| 35 | * |
| 36 | * The PWM value is set using a range of -1.0 to 1.0, appropriately |
| 37 | * scaling the value for the FPGA. |
| 38 | * |
| 39 | * @param speed The speed value between -1.0 and 1.0 to set. |
| 40 | * @param syncGroup Unused interface. |
| 41 | */ |
| 42 | void Jaguar::Set(float speed, uint8_t syncGroup) |
| 43 | { |
| 44 | SetSpeed(speed); |
| 45 | } |
| 46 | |
| 47 | /** |
| 48 | * Get the recently set value of the PWM. |
| 49 | * |
| 50 | * @return The most recently set value for the PWM between -1.0 and 1.0. |
| 51 | */ |
| 52 | float Jaguar::Get() const |
| 53 | { |
| 54 | return GetSpeed(); |
| 55 | } |
| 56 | |
| 57 | /** |
| 58 | * Common interface for disabling a motor. |
| 59 | */ |
| 60 | void Jaguar::Disable() |
| 61 | { |
| 62 | SetRaw(kPwmDisabled); |
| 63 | } |
| 64 | |
| 65 | /** |
| 66 | * Write out the PID value as seen in the PIDOutput base object. |
| 67 | * |
| 68 | * @param output Write out the PWM value as was found in the PIDController |
| 69 | */ |
| 70 | void Jaguar::PIDWrite(float output) |
| 71 | { |
| 72 | Set(output); |
| 73 | } |