WPILibC++
unspecified
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Digilent DMC 60 Speed Controller. More...
#include <DMC60.h>
Public Member Functions | |
DMC60 (int channel) | |
Constructor for a Digilent DMC 60. More... | |
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void | Set (double value) override |
Set the PWM value. More... | |
double | Get () const override |
Get the recently set value of the PWM. More... | |
void | SetInverted (bool isInverted) override |
Common interface for inverting direction of a speed controller. More... | |
bool | GetInverted () const override |
Common interface for returning the inversion state of a speed controller. More... | |
void | Disable () override |
Common interface for disabling a motor. | |
void | StopMotor () override |
Common interface to stop the motor until Set is called again. | |
void | PIDWrite (double output) override |
Write out the PID value as seen in the PIDOutput base object. More... | |
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SafePWM (int channel) | |
Constructor for a SafePWM object taking a channel number. More... | |
void | SetExpiration (double timeout) |
Set the expiration time for the PWM object. More... | |
double | GetExpiration () const |
Return the expiration time for the PWM object. More... | |
bool | IsAlive () const |
Check if the PWM object is currently alive or stopped due to a timeout. More... | |
void | StopMotor () |
Stop the motor associated with this PWM object. More... | |
bool | IsSafetyEnabled () const |
Check if motor safety is enabled for this object. More... | |
void | SetSafetyEnabled (bool enabled) |
Enable/disable motor safety for this device. More... | |
void | GetDescription (llvm::raw_ostream &desc) const |
virtual void | SetSpeed (double speed) |
Feed the MotorSafety timer when setting the speed. More... | |
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PWM (int channel) | |
Allocate a PWM given a channel number. More... | |
~PWM () override | |
Free the PWM channel. More... | |
virtual void | SetRaw (uint16_t value) |
Set the PWM value directly to the hardware. More... | |
virtual uint16_t | GetRaw () const |
Get the PWM value directly from the hardware. More... | |
virtual void | SetPosition (double pos) |
Set the PWM value based on a position. More... | |
virtual double | GetPosition () const |
Get the PWM value in terms of a position. More... | |
virtual double | GetSpeed () const |
Get the PWM value in terms of speed. More... | |
virtual void | SetDisabled () |
Temporarily disables the PWM output. More... | |
void | SetPeriodMultiplier (PeriodMultiplier mult) |
Slow down the PWM signal for old devices. More... | |
void | SetZeroLatch () |
void | EnableDeadbandElimination (bool eliminateDeadband) |
Optionally eliminate the deadband from a speed controller. More... | |
void | SetBounds (double max, double deadbandMax, double center, double deadbandMin, double min) |
Set the bounds on the PWM pulse widths. More... | |
void | SetRawBounds (int max, int deadbandMax, int center, int deadbandMin, int min) |
Set the bounds on the PWM values. More... | |
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... | |
int | GetChannel () const |
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ErrorBase (const ErrorBase &)=delete | |
ErrorBase & | operator= (const ErrorBase &)=delete |
virtual Error & | GetError () |
Retrieve the current error. More... | |
virtual const Error & | GetError () const |
virtual void | SetErrnoError (const llvm::Twine &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... | |
virtual void | SetImaqError (int success, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
Set the current error information associated from the nivision Imaq API. More... | |
virtual void | SetError (Error::Code code, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetWPIError (const llvm::Twine &errorMessage, Error::Code code, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | CloneError (const ErrorBase &rhs) const |
virtual void | ClearError () const |
Clear the current error information associated with this sensor. | |
virtual bool | StatusIsFatal () const |
Check if the current error code represents a fatal error. More... | |
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SendableBase (bool addLiveWindow=true) | |
Creates an instance of the sensor base. More... | |
~SendableBase () override | |
Free the resources used by this object. | |
std::string | GetName () const final |
Gets the name of this Sendable object. More... | |
void | SetName (const llvm::Twine &name) final |
Sets the name of this Sendable object. More... | |
std::string | GetSubsystem () const final |
Gets the subsystem name of this Sendable object. More... | |
void | SetSubsystem (const llvm::Twine &subsystem) final |
Sets the subsystem name of this Sendable object. More... | |
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void | SetName (const llvm::Twine &subsystem, const llvm::Twine &name) |
Sets both the subsystem name and device name of this Sendable object. More... | |
Additional Inherited Members | |
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enum | PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 } |
Represents the amount to multiply the minimum servo-pulse pwm period by. More... | |
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static void | SetGlobalError (Error::Code code, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) |
static void | SetGlobalWPIError (const llvm::Twine &errorMessage, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) |
static Error & | GetGlobalError () |
Retrieve the current global error. | |
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PWMSpeedController (int channel) | |
Constructor for a PWM Speed Controller connected via PWM. More... | |
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void | InitSendable (SendableBuilder &builder) override |
Initializes this Sendable object. More... | |
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void | AddChild (std::shared_ptr< Sendable > child) |
Add a child component. More... | |
void | AddChild (void *child) |
Add a child component. More... | |
void | SetName (const llvm::Twine &moduleType, int channel) |
Sets the name of the sensor with a channel number. More... | |
void | SetName (const llvm::Twine &moduleType, int moduleNumber, int channel) |
Sets the name of the sensor with a module and channel number. More... | |
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Error | m_error |
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static wpi::mutex | _globalErrorMutex |
static Error | _globalError |
Digilent DMC 60 Speed Controller.
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explicit |
Constructor for a Digilent DMC 60.
channel | The PWM channel that the DMC 60 is attached to. 0-9 are on-board, 10-19 are on the MXP port |
Note that the DMC 60 uses the following bounds for PWM values. These values should work reasonably well for most controllers, but if users experience issues such as asymmetric behavior around the deadband or inability to saturate the controller in either direction, calibration is recommended. The calibration procedure can be found in the DMC 60 User Manual available from Digilent.
2.004ms = full "forward" 1.52ms = the "high end" of the deadband range 1.50ms = center of the deadband range (off) 1.48ms = the "low end" of the deadband range 0.997ms = full "reverse"