| 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 | #include "Victor.h"
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| 8 |
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| 9 | #include "DigitalModule.h"
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| 10 | #include "NetworkCommunication/UsageReporting.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 | * Note that the Victor uses the following bounds for PWM values. These values were determined
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| 17 | * empirically and optimized for the Victor 888. These values should work reasonably well for
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| 18 | * Victor 884 controllers as well but if users experience issues such as asymmetric behavior around
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| 19 | * the deadband or inability to saturate the controller in either direction, calibration is recommended.
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| 20 | * The calibration procedure can be found in the Victor 884 User Manual available from IFI.
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| 21 | *
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| 22 | * - 206 = full "forward"
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| 23 | * - 131 = the "high end" of the deadband range
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| 24 | * - 128 = center of the deadband range (off)
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| 25 | * - 125 = the "low end" of the deadband range
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| 26 | * - 56 = full "reverse"
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| 27 | */
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| 28 | void Victor::InitVictor() {
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| 29 | // TODO: compute the appropriate values based on digital loop timing
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| 30 | SetBounds(206, 131, 128, 125, 56);
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| 31 | SetPeriodMultiplier(kPeriodMultiplier_2X);
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| 32 | SetRaw(m_centerPwm);
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| 33 |
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| 34 | LiveWindow::GetInstance()->AddActuator("Victor", GetModuleNumber(), GetChannel(), this);
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| 35 | nUsageReporting::report(nUsageReporting::kResourceType_Victor, GetChannel(), GetModuleNumber() - 1);
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| 36 | }
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| 37 |
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| 38 | /**
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| 39 | * Constructor that assumes the default digital module.
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| 40 | *
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| 41 | * @param channel The PWM channel on the digital module that the Victor is attached to.
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| 42 | */
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| 43 | Victor::Victor(UINT32 channel) : SafePWM(channel)
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| 44 | {
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| 45 | InitVictor();
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| 46 | }
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| 47 |
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| 48 | /**
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| 49 | * Constructor that specifies the digital module.
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| 50 | *
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| 51 | * @param moduleNumber The digital module (1 or 2).
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| 52 | * @param channel The PWM channel on the digital module that the Victor is attached to (1..10).
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| 53 | */
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| 54 | Victor::Victor(UINT8 moduleNumber, UINT32 channel) : SafePWM(moduleNumber, channel)
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| 55 | {
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| 56 | InitVictor();
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| 57 | }
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| 58 |
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| 59 | Victor::~Victor()
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| 60 | {
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| 61 | }
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| 62 |
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| 63 | /**
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| 64 | * Set the PWM value.
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| 65 | *
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| 66 | * The PWM value is set using a range of -1.0 to 1.0, appropriately
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| 67 | * scaling the value for the FPGA.
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| 68 | *
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| 69 | * @param speed The speed value between -1.0 and 1.0 to set.
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| 70 | * @param syncGroup Unused interface.
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| 71 | */
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| 72 | void Victor::Set(float speed, UINT8 syncGroup)
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| 73 | {
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| 74 | SetSpeed(speed);
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| 75 | }
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| 76 |
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| 77 | /**
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| 78 | * Get the recently set value of the PWM.
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| 79 | *
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| 80 | * @return The most recently set value for the PWM between -1.0 and 1.0.
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| 81 | */
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| 82 | float Victor::Get()
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| 83 | {
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| 84 | return GetSpeed();
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| 85 | }
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| 86 |
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| 87 | /**
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| 88 | * Common interface for disabling a motor.
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| 89 | */
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| 90 | void Victor::Disable()
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| 91 | {
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| 92 | SetRaw(kPwmDisabled);
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| 93 | }
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| 94 |
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| 95 | /**
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| 96 | * Write out the PID value as seen in the PIDOutput base object.
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| 97 | *
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| 98 | * @param output Write out the PWM value as was found in the PIDController
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| 99 | */
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| 100 | void Victor::PIDWrite(float output)
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| 101 | {
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| 102 | Set(output);
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| 103 | }
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| 104 |
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