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| PWM (int channel) |
| Allocate a PWM given a channel number. More...
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virtual | ~PWM () |
| Free the PWM channel. More...
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virtual void | SetRaw (uint16_t value) |
| Set the PWM value directly to the hardware. More...
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virtual uint16_t | GetRaw () const |
| Get the PWM value directly from the hardware. More...
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virtual void | SetPosition (double pos) |
| Set the PWM value based on a position. More...
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virtual double | GetPosition () const |
| Get the PWM value in terms of a position. More...
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virtual void | SetSpeed (double speed) |
| Set the PWM value based on a speed. More...
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virtual double | GetSpeed () const |
| Get the PWM value in terms of speed. More...
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virtual void | SetDisabled () |
| Temporarily disables the PWM output. More...
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void | SetPeriodMultiplier (PeriodMultiplier mult) |
| Slow down the PWM signal for old devices. More...
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void | SetZeroLatch () |
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void | EnableDeadbandElimination (bool eliminateDeadband) |
| Optionally eliminate the deadband from a speed controller. More...
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void | SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min) |
| Set the bounds on the PWM pulse widths. More...
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void | SetRawBounds (int max, int deadbandMax, int center, int deadbandMin, int min) |
| Set the bounds on the PWM values. More...
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void | GetRawBounds (int32_t *max, int32_t *deadbandMax, int32_t *center, int32_t *deadbandMin, int32_t *min) |
| Get the bounds on the PWM values. More...
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int | GetChannel () const |
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| SensorBase (const SensorBase &)=delete |
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SensorBase & | operator= (const SensorBase &)=delete |
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| ErrorBase (const ErrorBase &)=delete |
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ErrorBase & | operator= (const ErrorBase &)=delete |
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virtual Error & | GetError () |
| Retrieve the current error. More...
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virtual const Error & | GetError () const |
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virtual void | SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
| Set error information associated with a C library call that set an error to the "errno" global variable. More...
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virtual void | SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
| Set the current error information associated from the nivision Imaq API. More...
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virtual void | SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
| Set the current error information associated with this sensor. More...
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virtual void | SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
| Set the current error information associated with this sensor. More...
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virtual void | SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
| Set the current error information associated with this sensor. More...
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virtual void | CloneError (const ErrorBase &rhs) const |
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virtual void | ClearError () const |
| Clear the current error information associated with this sensor.
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virtual bool | StatusIsFatal () const |
| Check if the current error code represents a fatal error. More...
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static int | GetDefaultSolenoidModule () |
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static bool | CheckSolenoidModule (int moduleNumber) |
| Check that the solenoid module number is valid. More...
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static bool | CheckDigitalChannel (int channel) |
| Check that the digital channel number is valid. More...
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static bool | CheckRelayChannel (int channel) |
| Check that the relay channel number is valid. More...
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static bool | CheckPWMChannel (int channel) |
| Check that the digital channel number is valid. More...
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static bool | CheckAnalogInputChannel (int channel) |
| Check that the analog input number is value. More...
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static bool | CheckAnalogOutputChannel (int channel) |
| Check that the analog output number is valid. More...
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static bool | CheckSolenoidChannel (int channel) |
| Verify that the solenoid channel number is within limits. More...
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static bool | CheckPDPChannel (int channel) |
| Verify that the power distribution channel number is within limits. More...
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static void | SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) |
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static void | SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) |
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static Error & | GetGlobalError () |
| Retrieve the current global error.
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static const int | kDigitalChannels = HAL_GetNumDigitalChannels() |
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static const int | kAnalogInputs = HAL_GetNumAnalogInputs() |
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static const int | kAnalogOutputs |
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static const int | kSolenoidChannels = HAL_GetNumSolenoidChannels() |
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static const int | kSolenoidModules = HAL_GetNumPCMModules() |
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static const int | kPwmChannels = HAL_GetNumPWMChannels() |
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static const int | kRelayChannels = HAL_GetNumRelayHeaders() |
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static const int | kPDPChannels = HAL_GetNumPDPChannels() |
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static std::mutex | _globalErrorMutex |
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static Error | _globalError |
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Class implements the PWM generation in the FPGA.
The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They are mapped to the hardware dependent values, in this case 0-2000 for the FPGA. Changes are immediately sent to the FPGA, and the update occurs at the next FPGA cycle (5.005ms). There is no delay.
As of revision 0.1.10 of the FPGA, the FPGA interprets the 0-2000 values as follows:
- 2000 = maximum pulse width
- 1999 to 1001 = linear scaling from "full forward" to "center"
- 1000 = center value
- 999 to 2 = linear scaling from "center" to "full reverse"
- 1 = minimum pulse width (currently .5ms)
- 0 = disabled (i.e. PWM output is held low)