/**
* Common initialization code called by all constructors.
*
* Note that the Victor uses the following bounds for PWM values. These values were determined
* empirically and optimized for the Victor 888. These values should work reasonably well for
* Victor 884 controllers as well 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 Victor 884 User Manual available from IFI.
*
* - 206 = full "forward"
* - 131 = the "high end" of the deadband range
* - 128 = center of the deadband range (off)
* - 125 = the "low end" of the deadband range
* - 56 = full "reverse"
*/
void Victor::InitVictor() {
SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
}
/**
* Constructor for a SD540
* @param channel The PWM channel that the SD540 is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
SD540::SD540(uint32_t channel) : SafePWM(channel) {
SetBounds(2.05, 1.55, 1.50, 1.44, .94);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
SetZeroLatch();
HALReport(HALUsageReporting::kResourceType_MindsensorsSD540, GetChannel());
LiveWindow::GetInstance()->AddActuator("SD540", GetChannel(), this);
}
/**
* @param channel The PWM channel to which the servo is attached. 0-9 are
* on-board, 10-19 are on the MXP port
*/
Servo::Servo(uint32_t channel) : SafePWM(channel) {
// Set minimum and maximum PWM values supported by the servo
SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
// Assign defaults for period multiplier for the servo PWM control signal
SetPeriodMultiplier(kPeriodMultiplier_4X);
// printf("Done initializing servo %d\n", channel);
}
/**
* Common initialization code called by all constructors.
*
* Note that the Talon 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 Talon User Manual available from CTRE.
*
* - 211 = full "forward"
* - 133 = the "high end" of the deadband range
* - 129 = center of the deadband range (off)
* - 125 = the "low end" of the deadband range
* - 49 = full "reverse"
*/
void Talon::InitTalon() {
// TODO: compute the appropriate values based on digital loop timing
SetBounds(211, 133, 129, 125, 49);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
// TODO: Add Talon to Usage Reporting
nUsageReporting::report(nUsageReporting::kResourceType_Talon, GetChannel(), GetModuleNumber() - 1);
}
/**
* Common initialization code called by all constructors.
*
* Note that the Victor uses the following bounds for PWM values. These values were determined
* empirically and optimized for the Victor 888. These values should work reasonably well for
* Victor 884 controllers as well 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 Victor 884 User Manual available from IFI.
*
* - 206 = full "forward"
* - 131 = the "high end" of the deadband range
* - 128 = center of the deadband range (off)
* - 125 = the "low end" of the deadband range
* - 56 = full "reverse"
*/
void Victor::InitVictor() {
// TODO: compute the appropriate values based on digital loop timing
SetBounds(206, 131, 128, 125, 56);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
LiveWindow::GetInstance()->AddActuator("Victor", GetModuleNumber(), GetChannel(), this);
nUsageReporting::report(nUsageReporting::kResourceType_Victor, GetChannel(), GetModuleNumber() - 1);
}
/**
* Constructor for a VictorSP
* @param channel The PWM channel that the VictorSP is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
VictorSP::VictorSP(uint32_t channel) : SafePWM(channel) {
SetBounds(2.004, 1.52, 1.50, 1.48, .997);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
SetZeroLatch();
HALReport(HALUsageReporting::kResourceType_VictorSP, GetChannel());
LiveWindow::GetInstance()->AddActuator("VictorSP", GetChannel(), this);
}
/**
* Common initialization code called by all constructors.
*
* Note that the Victor uses the following bounds for PWM values. These values were determined
* empirically through experimentation during the 2008 beta testing of the new control system.
* Testing during the beta period revealed a significant amount of variation between Victors.
* The values below are chosen to ensure that teams using the default values should be able to
* get "full power" with the maximum and minimum values. For better performance, teams may wish
* to measure these values on their own Victors and set the bounds to the particular values
* measured for the actual Victors they were be using.
* - 210 = full "forward"
* - 138 = the "high end" of the deadband range
* - 132 = center of the deadband range (off)
* - 126 = the "low end" of the deadband range
* - 56 = full "reverse"
*/
void Victor::InitVictor()
{
// TODO: compute the appropriate values based on digital loop timing
SetBounds(210, 138, 132, 126, 56);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
nUsageReporting::report(nUsageReporting::kResourceType_Victor, GetChannel(), GetModuleNumber() - 1);
}
/**
* Common initialization code called by all constructors.
*
* InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
* well as the minimum and maximum PWM values supported by the servo.
*/
void Servo::InitServo()
{
m_table = NULL;
SetBounds(kDefaultMaxServoPWM, 0.0, 0.0, 0.0, kDefaultMinServoPWM);
SetPeriodMultiplier(kPeriodMultiplier_4X);
LiveWindow::GetInstance()->AddActuator("Servo", GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Servo, GetChannel());
}
/**
* Constructor for a Spark
* @param channel The PWM channel that the Spark is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
Spark::Spark(uint32_t channel) : PWMSpeedController(channel) {
SetBounds(2.003, 1.55, 1.50, 1.46, .999);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
SetZeroLatch();
HALReport(HALUsageReporting::kResourceType_RevSPARK, GetChannel());
LiveWindow::GetInstance()->AddActuator("Spark", GetChannel(), this);
}
/**
* Common initialization code called by all constructors.
*
* Note that the Victor uses the following bounds for PWM values. These values were determined
* empirically and optimized for the Victor 888. These values should work reasonably well for
* Victor 884 controllers as well 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 Victor 884 User Manual available from IFI.
*
* - 206 = full "forward"
* - 131 = the "high end" of the deadband range
* - 128 = center of the deadband range (off)
* - 125 = the "low end" of the deadband range
* - 56 = full "reverse"
*/
void Victor::InitVictor() {
SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
LiveWindow::GetInstance()->AddActuator("Victor", GetModuleNumber(), GetChannel(), this);
nUsageReporting::report(nUsageReporting::kResourceType_Victor, GetChannel(), GetModuleNumber() - 1);
}
/**
* Common initialization code called by all constructors.
*
* Note that the Talon 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 Talon User Manual available from CTRE.
*
* 2.037ms = full "forward"
* 1.539ms = the "high end" of the deadband range
* 1.513ms = center of the deadband range (off)
* 1.487ms = the "low end" of the deadband range
* 0.989ms = full "reverse"
*/
void Talon::InitTalon() {
SetBounds(2.037, 1.539, 1.513, 1.487, .989);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
SetZeroLatch();
HALReport(HALUsageReporting::kResourceType_Talon, GetChannel());
LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
}
/**
* Common initialization code called by all constructors.
*
* InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
* well as the minimum and maximum PWM values supported by the servo.
*/
void Servo::InitServo()
{
m_table = NULL;
SetBounds(2.27, 1.513, 1.507, 1.5, .743);
SetPeriodMultiplier(kPeriodMultiplier_4X);
LiveWindow::GetInstance()->AddActuator("Servo", GetModuleNumber(), GetChannel(), this);
nUsageReporting::report(nUsageReporting::kResourceType_Servo, GetChannel(), GetModuleNumber() - 1);
}
/**
* Common initialization code called by all constructors.
*/
void Jaguar::InitJaguar()
{
/*
* Input profile defined by Luminary Micro.
*
* Full reverse ranges from 0.671325ms to 0.6972211ms
* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
* Neutral ranges from 1.4482078ms to 1.5517922ms
* Proportional forward ranges from 1.5517922ms to 2.3027789ms
* Full forward ranges from 2.3027789ms to 2.328675ms
*/
SetBounds(251, 135, 128, 120, 4);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
}
/**
* @param channel The PWM channel that the Jaguar is attached to.
*/
Jaguar::Jaguar(uint32_t channel) : SafePWM(channel)
{
/*
* Input profile defined by Luminary Micro.
*
* Full reverse ranges from 0.671325ms to 0.6972211ms
* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
* Neutral ranges from 1.4482078ms to 1.5517922ms
* Proportional forward ranges from 1.5517922ms to 2.3027789ms
* Full forward ranges from 2.3027789ms to 2.328675ms
*/
SetBounds(2.31, 1.55, 1.507, 1.454, .697);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
LiveWindow::GetInstance().AddActuator("Jaguar", GetChannel(), this);
}
/**
* Constructor for a Jaguar connected via PWM
* @param channel The PWM channel that the Jaguar is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
Jaguar::Jaguar(uint32_t channel) : PWMSpeedController(channel) {
/**
* Input profile defined by Luminary Micro.
*
* Full reverse ranges from 0.671325ms to 0.6972211ms
* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
* Neutral ranges from 1.4482078ms to 1.5517922ms
* Proportional forward ranges from 1.5517922ms to 2.3027789ms
* Full forward ranges from 2.3027789ms to 2.328675ms
*/
SetBounds(2.31, 1.55, 1.507, 1.454, .697);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
SetZeroLatch();
HALReport(HALUsageReporting::kResourceType_Jaguar, GetChannel());
LiveWindow::GetInstance()->AddActuator("Jaguar", GetChannel(), this);
}
/**
* Common initialization code called by all constructors.
*/
void Jaguar::InitJaguar()
{
/*
* Input profile defined by Luminary Micro.
*
* Full reverse ranges from 0.671325ms to 0.6972211ms
* Proportional reverse ranges from 0.6972211ms to 1.4482078ms
* Neutral ranges from 1.4482078ms to 1.5517922ms
* Proportional forward ranges from 1.5517922ms to 2.3027789ms
* Full forward ranges from 2.3027789ms to 2.328675ms
* TODO: compute the appropriate values based on digital loop timing
*/
SetBounds(251, 135, 128, 120, 4);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
nUsageReporting::report(nUsageReporting::kResourceType_Jaguar, GetChannel(), GetModuleNumber() - 1);
LiveWindow::GetInstance()->AddActuator("Jaguar", GetModuleNumber(), GetChannel(), this);
}
/**
* Construct a TalonSRX connected via PWM
* @param channel The PWM channel that the TalonSRX is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
TalonSRX::TalonSRX(uint32_t channel) : SafePWM(channel) {
/* Note that the TalonSRX 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 TalonSRX User
* Manual available from Cross The Road Electronics.
* 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"
*/
SetBounds(2.004, 1.52, 1.50, 1.48, .997);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
SetZeroLatch();
HALReport(HALUsageReporting::kResourceType_TalonSRX, GetChannel());
LiveWindow::GetInstance()->AddActuator("TalonSRX", GetChannel(), this);
}
/**
* Constructor for a Talon (original or Talon SR)
* @param channel The PWM channel number that the Talon is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
Talon::Talon(uint32_t channel) : SafePWM(channel) {
/* Note that the Talon 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 Talon User Manual available
* from CTRE.
*
* 2.037ms = full "forward"
* 1.539ms = the "high end" of the deadband range
* 1.513ms = center of the deadband range (off)
* 1.487ms = the "low end" of the deadband range
* 0.989ms = full "reverse"
*/
SetBounds(2.037, 1.539, 1.513, 1.487, .989);
SetPeriodMultiplier(kPeriodMultiplier_1X);
SetRaw(m_centerPwm);
SetZeroLatch();
HALReport(HALUsageReporting::kResourceType_Talon, GetChannel());
LiveWindow::GetInstance()->AddActuator("Talon", GetChannel(), this);
}
/**
* Constructor for a Victor
* @param channel The PWM channel number that the Victor is attached to. 0-9 are
* on-board, 10-19 are on the MXP port
*/
Victor::Victor(uint32_t channel) : SafePWM(channel) {
/* Note that the Victor uses the following bounds for PWM values. These
* values were determined empirically and optimized for the Victor 888. These
* values should work reasonably well for Victor 884 controllers as well but
* if users experience issues such as asymmetric behaviour around the deadband
* or inability to saturate the controller in either direction, calibration is
* recommended. The calibration procedure can be found in the Victor 884 User
* Manual available from IFI.
*
* 2.027ms = full "forward"
* 1.525ms = the "high end" of the deadband range
* 1.507ms = center of the deadband range (off)
* 1.49ms = the "low end" of the deadband range
* 1.026ms = full "reverse"
*/
SetBounds(2.027, 1.525, 1.507, 1.49, 1.026);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
SetZeroLatch();
LiveWindow::GetInstance()->AddActuator("Victor", GetChannel(), this);
HALReport(HALUsageReporting::kResourceType_Victor, GetChannel());
}
/**
* Common initialization code called by all constructors.
*
* InitServo() assigns defaults for the period multiplier for the servo PWM control signal, as
* well as the minimum and maximum PWM values supported by the servo.
*/
void Servo::InitServo()
{
SetBounds(245, 0, 0, 0, 11);
SetPeriodMultiplier(kPeriodMultiplier_4X);
}
/**
* Common initialization code called by all constructors.
*
* Note that the Victor uses the following bounds for PWM values. These values were determined
* empirically through experimentation during the 2008 beta testing of the new control system.
* Testing during the beta period revealed a significant amount of variation between Victors.
* The values below are chosen to ensure that teams using the default values should be able to
* get "full power" with the maximum and minimum values. For better performance, teams may wish
* to measure these values on their own Victors and set the bounds to the particular values
* measured for the actual Victors they were be using.
* - 210 = full "forward"
* - 138 = the "high end" of the deadband range
* - 132 = center of the deadband range (off)
* - 126 = the "low end" of the deadband range
* - 56 = full "reverse"
*/
void Victor::InitVictor()
{
SetBounds(210, 138, 132, 126, 56);
SetPeriodMultiplier(kPeriodMultiplier_2X);
SetRaw(m_centerPwm);
}
