/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getLoopTiming
* Signature: (Ljava/nio/IntBuffer;)S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming
(JNIEnv * env, jclass, jobject status)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing";
jint * statusPtr = (jint*)env->GetDirectBufferAddress(status);
jshort returnValue = getLoopTiming( statusPtr );
DIOJNI_LOG(logDEBUG) << "Status = " << *statusPtr;
DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue;
return returnValue;
}
/*
* Class: edu_wpi_first_wpilibj_hal_DIOJNI
* Method: getLoopTiming
* Signature: ()S
*/
JNIEXPORT jshort JNICALL Java_edu_wpi_first_wpilibj_hal_DIOJNI_getLoopTiming
(JNIEnv * env, jclass)
{
DIOJNI_LOG(logDEBUG) << "Calling DIOJNI getLoopTimeing";
int32_t status = 0;
jshort returnValue = getLoopTiming( &status );
DIOJNI_LOG(logDEBUG) << "Status = " << status;
DIOJNI_LOG(logDEBUG) << "LoopTiming = " << returnValue;
CheckStatus(env, status);
return returnValue;
}
/**
* 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.
* @param max The max PWM pulse width in ms
* @param deadbandMax The high end of the deadband range pulse width in ms
* @param center The center (off) pulse width in ms
* @param deadbandMin The low end of the deadband pulse width in ms
* @param min The minimum pulse width in ms
*/
void PWM::SetBounds(double max, double deadbandMax, double center,
double deadbandMin, double min) {
// calculate the loop time in milliseconds
int32_t status = 0;
double loopTime =
getLoopTiming(&status) / (kSystemClockTicksPerMicrosecond * 1e3);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
if (StatusIsFatal()) return;
m_maxPwm = (int32_t)((max - kDefaultPwmCenter) / loopTime +
kDefaultPwmStepsDown - 1);
m_deadbandMaxPwm = (int32_t)((deadbandMax - kDefaultPwmCenter) / loopTime +
kDefaultPwmStepsDown - 1);
m_centerPwm = (int32_t)((center - kDefaultPwmCenter) / loopTime +
kDefaultPwmStepsDown - 1);
m_deadbandMinPwm = (int32_t)((deadbandMin - kDefaultPwmCenter) / loopTime +
kDefaultPwmStepsDown - 1);
m_minPwm = (int32_t)((min - kDefaultPwmCenter) / loopTime +
kDefaultPwmStepsDown - 1);
}
