| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 |
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| 8 | #include "Jaguar.h"
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| 9 | #include "NetworkCommunication/UsageReporting.h"
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| 10 | #include "DigitalModule.h"
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| 11 | #include "LiveWindow/LiveWindow.h"
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| 12 |
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| 13 | /**
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| 14 | * Common initialization code called by all constructors.
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| 15 | */
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| 16 | void Jaguar::InitJaguar()
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| 17 | {
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| 18 | /*
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| 19 | * Input profile defined by Luminary Micro.
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| 20 | *
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| 21 | * Full reverse ranges from 0.671325ms to 0.6972211ms
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| 22 | * Proportional reverse ranges from 0.6972211ms to 1.4482078ms
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| 23 | * Neutral ranges from 1.4482078ms to 1.5517922ms
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| 24 | * Proportional forward ranges from 1.5517922ms to 2.3027789ms
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| 25 | * Full forward ranges from 2.3027789ms to 2.328675ms
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| 26 | * TODO: compute the appropriate values based on digital loop timing
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| 27 | */
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| 28 | SetBounds(251, 135, 128, 120, 4);
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| 29 | SetPeriodMultiplier(kPeriodMultiplier_1X);
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| 30 | SetRaw(m_centerPwm);
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| 31 |
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| 32 | nUsageReporting::report(nUsageReporting::kResourceType_Jaguar, GetChannel(), GetModuleNumber() - 1);
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| 33 | LiveWindow::GetInstance()->AddActuator("Jaguar", GetModuleNumber(), GetChannel(), this);
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| 34 | }
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| 35 |
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| 36 | /**
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| 37 | * Constructor that assumes the default digital module.
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| 38 | *
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| 39 | * @param channel The PWM channel on the digital module that the Jaguar is attached to.
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| 40 | */
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| 41 | Jaguar::Jaguar(UINT32 channel) : SafePWM(channel)
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| 42 | {
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| 43 | InitJaguar();
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| 44 | }
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| 45 |
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| 46 | /**
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| 47 | * Constructor that specifies the digital module.
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| 48 | *
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| 49 | * @param moduleNumber The digital module (1 or 2).
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| 50 | * @param channel The PWM channel on the digital module that the Jaguar is attached to.
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| 51 | */
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| 52 | Jaguar::Jaguar(UINT8 moduleNumber, UINT32 channel) : SafePWM(moduleNumber, channel)
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| 53 | {
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| 54 | InitJaguar();
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| 55 | }
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| 56 |
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| 57 | Jaguar::~Jaguar()
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| 58 | {
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| 59 | }
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| 60 |
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| 61 | /**
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| 62 | * Set the PWM value.
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| 63 | *
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| 64 | * The PWM value is set using a range of -1.0 to 1.0, appropriately
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| 65 | * scaling the value for the FPGA.
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| 66 | *
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| 67 | * @param speed The speed value between -1.0 and 1.0 to set.
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| 68 | * @param syncGroup Unused interface.
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| 69 | */
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| 70 | void Jaguar::Set(float speed, UINT8 syncGroup)
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| 71 | {
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| 72 | SetSpeed(speed);
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| 73 | }
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| 74 |
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| 75 | /**
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| 76 | * Get the recently set value of the PWM.
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| 77 | *
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| 78 | * @return The most recently set value for the PWM between -1.0 and 1.0.
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| 79 | */
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| 80 | float Jaguar::Get()
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| 81 | {
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| 82 | return GetSpeed();
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| 83 | }
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| 84 |
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| 85 | /**
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| 86 | * Common interface for disabling a motor.
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| 87 | */
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| 88 | void Jaguar::Disable()
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| 89 | {
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| 90 | SetRaw(kPwmDisabled);
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| 91 | }
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| 92 |
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| 93 | /**
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| 94 | * Write out the PID value as seen in the PIDOutput base object.
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| 95 | *
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| 96 | * @param output Write out the PWM value as was found in the PIDController
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| 97 | */
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| 98 | void Jaguar::PIDWrite(float output)
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| 99 | {
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| 100 | Set(output);
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| 101 | }
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| 102 |
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