| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2014-2017. 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 the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #pragma once |
| 9 | |
| 10 | #include "SpeedController.h" |
| 11 | |
| 12 | namespace frc { |
| 13 | |
| 14 | /** |
| 15 | * Interface for "smart" CAN-based speed controllers. |
| 16 | */ |
| 17 | class CANSpeedController : public SpeedController { |
| 18 | public: |
| 19 | enum ControlMode { |
| 20 | kPercentVbus = 0, |
| 21 | kCurrent = 1, |
| 22 | kSpeed = 2, |
| 23 | kPosition = 3, |
| 24 | kVoltage = 4, |
| 25 | kFollower = 5, |
| 26 | kMotionProfile = 6, |
| 27 | }; |
| 28 | |
| 29 | // Helper function for the ControlMode enum |
| 30 | virtual bool IsModePID(ControlMode mode) const = 0; |
| 31 | |
| 32 | enum Faults { |
| 33 | kCurrentFault = 1, |
| 34 | kTemperatureFault = 2, |
| 35 | kBusVoltageFault = 4, |
| 36 | kGateDriverFault = 8, |
| 37 | /* SRX extensions */ |
| 38 | kFwdLimitSwitch = 0x10, |
| 39 | kRevLimitSwitch = 0x20, |
| 40 | kFwdSoftLimit = 0x40, |
| 41 | kRevSoftLimit = 0x80, |
| 42 | }; |
| 43 | |
| 44 | enum Limits { kForwardLimit = 1, kReverseLimit = 2 }; |
| 45 | |
| 46 | enum NeutralMode { |
| 47 | /** Use the NeutralMode that is set by the jumper wire on the CAN device */ |
| 48 | kNeutralMode_Jumper = 0, |
| 49 | /** Stop the motor's rotation by applying a force. */ |
| 50 | kNeutralMode_Brake = 1, |
| 51 | /** Do not attempt to stop the motor. Instead allow it to coast to a stop |
| 52 | without applying resistance. */ |
| 53 | kNeutralMode_Coast = 2 |
| 54 | }; |
| 55 | |
| 56 | enum LimitMode { |
| 57 | /** Only use switches for limits */ |
| 58 | kLimitMode_SwitchInputsOnly = 0, |
| 59 | /** Use both switches and soft limits */ |
| 60 | kLimitMode_SoftPositionLimits = 1, |
| 61 | /* SRX extensions */ |
| 62 | /** Disable switches and disable soft limits */ |
| 63 | kLimitMode_SrxDisableSwitchInputs = 2, |
| 64 | }; |
| 65 | |
| 66 | virtual double Get() const = 0; |
| 67 | virtual void Set(double value) = 0; |
| 68 | virtual void StopMotor() = 0; |
| 69 | virtual void Disable() = 0; |
| 70 | virtual void SetP(double p) = 0; |
| 71 | virtual void SetI(double i) = 0; |
| 72 | virtual void SetD(double d) = 0; |
| 73 | virtual void SetPID(double p, double i, double d) = 0; |
| 74 | virtual double GetP() const = 0; |
| 75 | virtual double GetI() const = 0; |
| 76 | virtual double GetD() const = 0; |
| 77 | virtual double GetBusVoltage() const = 0; |
| 78 | virtual double GetOutputVoltage() const = 0; |
| 79 | virtual double GetOutputCurrent() const = 0; |
| 80 | virtual double GetTemperature() const = 0; |
| 81 | virtual double GetPosition() const = 0; |
| 82 | virtual double GetSpeed() const = 0; |
| 83 | virtual bool GetForwardLimitOK() const = 0; |
| 84 | virtual bool GetReverseLimitOK() const = 0; |
| 85 | virtual uint16_t GetFaults() const = 0; |
| 86 | virtual void SetVoltageRampRate(double rampRate) = 0; |
| 87 | virtual int GetFirmwareVersion() const = 0; |
| 88 | virtual void ConfigNeutralMode(NeutralMode mode) = 0; |
| 89 | virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0; |
| 90 | virtual void ConfigPotentiometerTurns(uint16_t turns) = 0; |
| 91 | virtual void ConfigSoftPositionLimits(double forwardLimitPosition, |
| 92 | double reverseLimitPosition) = 0; |
| 93 | virtual void DisableSoftPositionLimits() = 0; |
| 94 | virtual void ConfigLimitMode(LimitMode mode) = 0; |
| 95 | virtual void ConfigForwardLimit(double forwardLimitPosition) = 0; |
| 96 | virtual void ConfigReverseLimit(double reverseLimitPosition) = 0; |
| 97 | virtual void ConfigMaxOutputVoltage(double voltage) = 0; |
| 98 | virtual void ConfigFaultTime(double faultTime) = 0; |
| 99 | // Hold off on interface until we figure out ControlMode enums. |
| 100 | // virtual void SetControlMode(ControlMode mode) = 0; |
| 101 | // virtual ControlMode GetControlMode() const = 0; |
| 102 | }; |
| 103 | |
| 104 | } // namespace frc |