/**
* Get the PWM value directly from the hardware.
*
* Read a raw value from a PWM channel.
*
* @param channel The PWM channel connected to this speed controller
* @return Raw PWM control value. Range: 0 - 255.
*/
UINT8 GetJaguarRaw(UINT32 channel)
{
Jaguar *jaguar = (Jaguar *) AllocatePWM(SensorBase::GetDefaultDigitalModule(), channel, CreateJaguarStatic);
if (jaguar)
return jaguar->GetRaw();
else
return 0;
}
/**
* Get the PWM value directly from the hardware.
*
* Read a raw value from a PWM channel.
*
* @param slot The slot the digital module is plugged into
* @param channel The PWM channel connected to this speed controller
* @return Raw PWM control value. Range: 0 - 255.
*/
UINT8 GetJaguarRaw(UINT32 slot, UINT32 channel)
{
Jaguar *jaguar = (Jaguar *) AllocatePWM(slot, channel, CreateJaguarStatic);
if (jaguar)
return jaguar->GetRaw();
else
return 0;
}
/**
* Set the PWM value directly to the hardware.
*
* Write a raw value to a PWM channel.
*
* @param slot The slot the digital module is plugged into
* @param channel The PWM channel connected to this speed controller
* @param value Raw PWM value. Range 0 - 255.
*/
void SetJaguarRaw(UINT32 slot, UINT32 channel, UINT8 value)
{
Jaguar *jaguar = (Jaguar *) AllocatePWM(slot, channel, CreateJaguarStatic);
if (jaguar) jaguar->SetRaw(value);
}
/**
* Set the PWM value directly to the hardware.
*
* Write a raw value to a PWM channel.
*
* @param channel The PWM channel connected to this speed controller
* @param value Raw PWM value. Range 0 - 255.
*/
void SetJaguarRaw(UINT32 channel, UINT8 value)
{
Jaguar *jaguar = (Jaguar *) AllocatePWM(SensorBase::GetDefaultDigitalModule(), channel, CreateJaguarStatic);
if (jaguar) jaguar->SetRaw(value);
}
/**
* Set the PWM value.
*
* The PWM value is set using a range of -1.0 to 1.0, appropriately
* scaling the value for the FPGA.
*
* @param channel The PWM channel connected to this speed controller
* @param speed The speed value between -1.0 and 1.0 to set.
*/
void SetJaguarSpeed(UINT32 channel, float speed)
{
Jaguar *jaguar = (Jaguar *) AllocatePWM(SensorBase::GetDefaultDigitalModule(), channel, CreateJaguarStatic);
if (jaguar) jaguar->Set(speed);
}
/**
* Set the PWM value.
*
* The PWM value is set using a range of -1.0 to 1.0, appropriately
* scaling the value for the FPGA.
*
* @param slot The slot the digital module is plugged into
* @param channel The PWM channel connected to this speed controller
* @param speed The speed value between -1.0 and 1.0 to set.
*/
void SetJaguarSpeed(UINT32 slot, UINT32 channel, float speed)
{
Jaguar *jaguar = (Jaguar *) AllocatePWM(slot, channel, CreateJaguarStatic);
if (jaguar) jaguar->Set(speed);
}
/**
* Free the underlying Jaguar object.
* Free the underlying object and free the associated resources.
*
* @param slot The slot the digital module is plugged into
* @param channel The PWM channel connected to this speed controller
*/
void DeleteJaguar(UINT32 slot, UINT32 channel)
{
Jaguar *jaguar = (Jaguar *) AllocatePWM(slot, channel, CreateJaguarStatic);
DeletePWM(slot, channel);
delete jaguar;
}
/**
* Set the PWM value directly to the hardware.
*
* Write a raw value to a PWM channel.
*
* @param slot The slot the digital module is plugged into
* @param channel The PWM channel used for this Victor
* @param value Raw PWM value. Range 0 - 255.
*/
void SetVictorRaw(UINT32 slot, UINT32 channel, UINT8 value)
{
Victor *victor = (Victor *) AllocatePWM(slot, channel, CreateVictorStatic);
if (victor) victor->SetRaw(value);
}
/**
* Set the PWM value.
*
* The PWM value is set using a range of -1.0 to 1.0, appropriately
* scaling the value for the FPGA.
*
* @param channel The PWM channel used for this Victor
* @param speed The speed value between -1.0 and 1.0 to set.
*/
void SetVictorSpeed(UINT32 channel, float speed)
{
Victor *victor = (Victor *) AllocatePWM(channel, CreateVictorStatic);
if (victor) victor->Set(speed);
}
/**
* Delete resources for a Victor
* Free the underlying object and delete the allocated resources for the Victor
*
* @param slot The slot the digital module is plugged into
* @param channel The PWM channel used for this Victor
*/
void DeleteVictor(UINT32 slot, UINT32 channel)
{
Victor *victor = (Victor *) AllocatePWM(slot, channel, CreateVictorStatic);
delete victor;
DeletePWM(slot, channel);
}
