WPILibC++
2018.4.1-20180825000225-1177-gc8482cd
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Class implements the PWM generation in the FPGA. More...
#include <PWM.h>
Public Types | |
enum | PeriodMultiplier { kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4 } |
Represents the amount to multiply the minimum servo-pulse pwm period by. More... | |
Public Member Functions | |
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 void | SetSpeed (double speed) |
Set the PWM value based on a speed. 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 |
Retrieve the current error. More... | |
virtual void | ClearError () const |
Clear the current error information associated with this sensor. | |
virtual void | SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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 wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated from the nivision Imaq API. More... | |
virtual void | SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::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 wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | CloneError (const ErrorBase &rhs) const |
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... | |
std::string | GetName () const final |
Gets the name of this Sendable object. More... | |
void | SetName (const wpi::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 wpi::Twine &subsystem) final |
Sets the subsystem name of this Sendable object. More... | |
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void | SetName (const wpi::Twine &subsystem, const wpi::Twine &name) |
Sets both the subsystem name and device name of this Sendable object. More... | |
Protected Member Functions | |
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 wpi::Twine &moduleType, int channel) |
Sets the name of the sensor with a channel number. More... | |
void | SetName (const wpi::Twine &moduleType, int moduleNumber, int channel) |
Sets the name of the sensor with a module and channel number. More... | |
Additional Inherited Members | |
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static void | SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) |
static void | SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) |
static const Error & | GetGlobalError () |
Retrieve the current global error. | |
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Error | m_error |
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:
Represents the amount to multiply the minimum servo-pulse pwm period by.
Enumerator | |
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kPeriodMultiplier_1X |
Don't skip pulses. PWM pulses occur every 5.005 ms |
kPeriodMultiplier_2X |
Skip every other pulse. PWM pulses occur every 10.010 ms |
kPeriodMultiplier_4X |
Skip three out of four pulses. PWM pulses occur every 20.020 ms |
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explicit |
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override |
void frc::PWM::EnableDeadbandElimination | ( | bool | eliminateDeadband | ) |
Optionally eliminate the deadband from a speed controller.
eliminateDeadband | If true, set the motor curve on the Jaguar to eliminate the deadband in the middle of the range. Otherwise, keep the full range without modifying any values. |
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virtual |
Get the PWM value in terms of a position.
This is intended to be used by servos.
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virtual |
void frc::PWM::GetRawBounds | ( | int32_t * | max, |
int32_t * | deadbandMax, | ||
int32_t * | center, | ||
int32_t * | deadbandMin, | ||
int32_t * | min | ||
) |
Get the bounds on the PWM values.
This Gets the bounds on the PWM values for a particular each type of controller. The values determine the upper and lower speeds as well as the deadband bracket.
max | The Minimum pwm value |
deadbandMax | The high end of the deadband range |
center | The center speed (off) |
deadbandMin | The low end of the deadband range |
min | The minimum pwm value |
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virtual |
Get the PWM value in terms of speed.
This is intended to be used by speed controllers.
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overrideprotectedvirtual |
Initializes this Sendable object.
builder | sendable builder |
Implements frc::Sendable.
Reimplemented in frc::PWMSpeedController.
void frc::PWM::SetBounds | ( | double | max, |
double | deadbandMax, | ||
double | center, | ||
double | deadbandMin, | ||
double | min | ||
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Set the bounds on the PWM pulse widths.
This sets the bounds on the PWM values for a particular type of controller. The values determine the upper and lower speeds as well as the deadband bracket.
max | The max PWM pulse width in ms |
deadbandMax | The high end of the deadband range pulse width in ms |
center | The center (off) pulse width in ms |
deadbandMin | The low end of the deadband pulse width in ms |
min | The minimum pulse width in ms |
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virtual |
Temporarily disables the PWM output.
The next set call will reenable the output.
void frc::PWM::SetPeriodMultiplier | ( | PeriodMultiplier | mult | ) |
Slow down the PWM signal for old devices.
mult | The period multiplier to apply to this channel |
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virtual |
Set the PWM value based on a position.
This is intended to be used by servos.
pos | The position to set the servo between 0.0 and 1.0. |
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virtual |
void frc::PWM::SetRawBounds | ( | int | max, |
int | deadbandMax, | ||
int | center, | ||
int | deadbandMin, | ||
int | min | ||
) |
Set the bounds on the PWM values.
This sets the bounds on the PWM values for a particular each type of controller. The values determine the upper and lower speeds as well as the deadband bracket.
max | The Minimum pwm value |
deadbandMax | The high end of the deadband range |
center | The center speed (off) |
deadbandMin | The low end of the deadband range |
min | The minimum pwm value |
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virtual |
Set the PWM value based on a speed.
This is intended to be used by speed controllers.
speed | The speed to set the speed controller between -1.0 and 1.0. |
Reimplemented in frc::SafePWM.