io.github.robolib.module.iface

Class PWM

java.lang.Object

io.github.robolib.module.iface.Interface

io.github.robolib.module.iface.PWM

All Implemented Interfaces:

LiveWindowSendable, NumberSink, Sendable, UpdatingSendable, Module

Direct Known Subclasses:

PWMController, Servo

public class PWM
extends Interface
implements Module, LiveWindowSendable, NumberSink

The PWM Interface class.

Author:

noriah

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	PWM.PeriodMultiplier The PeriodMultiplier enumeration
static class	PWM.PWMChannel The PWM Channel enum.

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface

Interface.InterfaceType

Field Summary

Fields

Modifier and Type	Field and Description
private int	m_boundsCenter The center of the bounds between positive and negative.
private int	m_boundsNegativeMax The high end of the negative bounds.
private int	m_boundsNegativeMaxDeadband The negative high end value used to eliminate deadband.
private int	m_boundsNegativeMin The low end of the negative bounds.
private int	m_boundsPositiveMax The high end of the positive bounds.
private int	m_boundsPositiveMin The low end of the positive bounds.
private int	m_boundsPositiveMinDeadband The positive low end value used to eliminate deadband.
private PWM.PWMChannel	m_channel The PWM Channel this PWM is operating on.
protected java.lang.String	m_description
protected boolean	m_disabled The disabled status.
private boolean	m_eliminateDeadband Should we be destroying the deadband? Only used by setBounds()
private java.nio.ByteBuffer	m_port The The RoboRIO port identifier.
private int	m_scaleFactorFull The full range bounds scaling factor.
private int	m_scaleFactorNegative The negative bounds scaling factor.
private int	m_scaleFactorPositive The positive bounds scaling factor
protected ITable	m_table
protected ITableListener	m_table_listener
protected static double	PWM_DEFAULT_CENTER The default PWM center pulse width in ms.
protected static double	PWM_DEFAULT_PERIOD The default PWM Period.
protected static int	PWM_DEFAULT_STEPS_DOWN The default steps down for a PWM?
static int	PWM_DISABLED_WIDTH The default disable value for a PWM.
static int	SYSTEM_CLOCK_TICKS_PER_MICROSEC
private static boolean[]	USED_CHANNELS Keep track of already used channels.

Fields inherited from class io.github.robolib.module.iface.Interface

m_ifaceType, MAX_ANALOG_IN_CHANNELS, MAX_ANALOG_OUT_CHANNELS, MAX_DIGITAL_CHANNELS, MAX_PWM_CHANNELS, MAX_RELAY_CHANNELS

Constructor Summary

Constructors

Constructor and Description
PWM(PWM.PWMChannel channel)
PWM(PWM.PWMChannel channel, java.lang.String desc) Instantiates a new pwm.
PWM(PWM.PWMChannel channel, java.lang.String desc, double boundsPosMax, double boundsPosMin, double boundsCenter, double boundsNegMax, double boundsNegMin, PWM.PeriodMultiplier multi)

Method Summary

Modifier and Type	Method and Description
private void	allocateChannel(PWM.PWMChannel channel) Allocate a PWM channel.
void	disableModule() Disable the module
void	eliminateDeadband(boolean eliminateDeadband) Enable Deadband Elimination.
void	enableModule() Enable the module
void	free() Free the PWM channel.
private boolean	freeChannel(PWM.PWMChannel channel) Free a PWM channel.
double	get() Gets the speed.
int	getCenterPWM() Get the center PWM value.
PWM.PWMChannel	getChannel() The channel this PWM is operating on.
java.lang.String	getChannelName() The channel this PWM is operating on, in string form.
int	getChannelNumber() The channel this PWM is operating on, in integer form.
boolean	getModuleEnabled()
double	getPosition() Gets the position.
int	getRaw() Get the PWM value directly from the hardware.
java.lang.String	getSmartDashboardType()
double	getSpeed() Gets the speed.
ITable	getTable()
void	initTable(ITable subtable)
void	set(double value) Sets the speed.
void	setBounds(double max, double deadMax, double center, double deadMin, double min) Set the bounds on pulse widths for this PWM.
void	setPeriodMultiplier(PWM.PeriodMultiplier multi) Set the period multiplier for older/newer devices.
void	setPosition(double angle) Set the position of the servo.
protected void	setRaw(int value) Set the PWM value directly to the hardware.
void	setSpeed(double speed) Sets the speed.
protected void	setZeroLatch() Sets the zero latch.
void	startLiveWindowMode()
void	stopLiveWindowMode()
void	updateTable()

Methods inherited from class io.github.robolib.module.iface.Interface

allocateMXPPin, checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPWMChannel, checkRelayChannel, freeMXPPin, getInterfaceType

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface io.github.robolib.identifier.NumberSink

bindValue, bindValue

Field Detail

PWM_DEFAULT_PERIOD

protected static final double PWM_DEFAULT_PERIOD

The default PWM Period.

See Also:

Constant Field Values

PWM_DEFAULT_CENTER

protected static final double PWM_DEFAULT_CENTER

The default PWM center pulse width in ms.

See Also:

Constant Field Values

PWM_DEFAULT_STEPS_DOWN

protected static final int PWM_DEFAULT_STEPS_DOWN

The default steps down for a PWM?

See Also:

Constant Field Values

PWM_DISABLED_WIDTH

public static final int PWM_DISABLED_WIDTH

The default disable value for a PWM.

See Also:

Constant Field Values

SYSTEM_CLOCK_TICKS_PER_MICROSEC

public static final int SYSTEM_CLOCK_TICKS_PER_MICROSEC

See Also:

Constant Field Values

USED_CHANNELS

private static final boolean[] USED_CHANNELS

Keep track of already used channels.

m_eliminateDeadband

private boolean m_eliminateDeadband

Should we be destroying the deadband? Only used by setBounds()

m_scaleFactorPositive

private int m_scaleFactorPositive

The positive bounds scaling factor

m_boundsPositiveMax

private int m_boundsPositiveMax

The high end of the positive bounds.

m_boundsPositiveMinDeadband

private int m_boundsPositiveMinDeadband

The positive low end value used to eliminate deadband.

m_boundsPositiveMin

private int m_boundsPositiveMin

The low end of the positive bounds.

m_boundsCenter

private int m_boundsCenter

The center of the bounds between positive and negative.

m_boundsNegativeMax

private int m_boundsNegativeMax

The high end of the negative bounds.

m_boundsNegativeMaxDeadband

private int m_boundsNegativeMaxDeadband

The negative high end value used to eliminate deadband.

m_boundsNegativeMin

private int m_boundsNegativeMin

The low end of the negative bounds.

m_scaleFactorNegative

private int m_scaleFactorNegative

The negative bounds scaling factor.

m_scaleFactorFull

private int m_scaleFactorFull

The full range bounds scaling factor.

m_disabled

protected boolean m_disabled

The disabled status.

m_description

protected final java.lang.String m_description

m_port

private final java.nio.ByteBuffer m_port

The The RoboRIO port identifier.

m_channel

private PWM.PWMChannel m_channel

The PWM Channel this PWM is operating on.

m_table

protected ITable m_table

m_table_listener

protected ITableListener m_table_listener

Constructor Detail

PWM

public PWM(PWM.PWMChannel channel)

Parameters:

channel - the channel for this pwm

PWM

public PWM(PWM.PWMChannel channel,
           java.lang.String desc)

Instantiates a new pwm.

Parameters:

channel - the channel for this pwm

desc -

PWM

public PWM(PWM.PWMChannel channel,
           java.lang.String desc,
           double boundsPosMax,
           double boundsPosMin,
           double boundsCenter,
           double boundsNegMax,
           double boundsNegMin,
           PWM.PeriodMultiplier multi)

Method Detail

free

public void free()

Free the PWM channel. Free the resource associated with the PWM channel and set the value to 0.

allocateChannel

private final void allocateChannel(PWM.PWMChannel channel)

Allocate a PWM channel.

Parameters:

channel - the PWM channel to allocate

freeChannel

private final boolean freeChannel(PWM.PWMChannel channel)

Free a PWM channel.

Parameters:

channel - the PWM channel to free

getChannel

public final PWM.PWMChannel getChannel()

The channel this PWM is operating on.

Returns:

PWM.PWMChannel representation of the PWM channel

getChannelNumber

public final int getChannelNumber()

The channel this PWM is operating on, in integer form.

Returns:

integer representation of the PWM channel

getChannelName

public final java.lang.String getChannelName()

The channel this PWM is operating on, in string form.

Returns:

string representation of the PWM channel

setBounds

public final void setBounds(double max,
                            double deadMax,
                            double center,
                            double deadMin,
                            double min)

Set the bounds on pulse widths for this PWM.

Parameters:

max - The maximum PWM pulse in ms

deadMax - The maximum of the pulse deadband in ms

center - The center/zero/off pulse width in ms

deadMin - the mimium of the pulse deadband in ms

min - The minimum PWM pulse in ms

eliminateDeadband

public final void eliminateDeadband(boolean eliminateDeadband)

Enable Deadband Elimination.

Parameters:

eliminateDeadband - Yes or No

setPosition

public void setPosition(double angle)

Set the position of the servo.

Parameters:

angle - the servo position

getPosition

public double getPosition()

Gets the position.

Returns:

the position

setSpeed

public void setSpeed(double speed)

Sets the speed.

Parameters:

speed - the new speed

getSpeed

public double getSpeed()

Gets the speed.

Returns:

the speed

setRaw

protected final void setRaw(int value)

Set the PWM value directly to the hardware. Write a raw value to a PWM channel.

Parameters:

value - Raw PWM value. Range 0 - 255.

getRaw

public final int getRaw()

Get the PWM value directly from the hardware. Read a raw value from a PWM channel.

Returns:

Raw PWM control value. Range: 0 - 255.

set

public void set(double value)

Sets the speed.

Specified by:

set in interface NumberSink

Parameters:

speed - the new speed

get

public double get()

Gets the speed.

Returns:

the speed

getCenterPWM

public final int getCenterPWM()

Get the center PWM value.

Returns:

the center pwm value

setPeriodMultiplier

public final void setPeriodMultiplier(PWM.PeriodMultiplier multi)

Set the period multiplier for older/newer devices.

Parameters:

multi - The PeriodMultiplier enum

setZeroLatch

protected final void setZeroLatch()

Sets the zero latch.

initTable

public final void initTable(ITable subtable)

Specified by:

initTable in interface Sendable

getTable

public final ITable getTable()

Specified by:

getTable in interface Sendable

getSmartDashboardType

public final java.lang.String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

updateTable

public final void updateTable()

Specified by:

updateTable in interface UpdatingSendable

startLiveWindowMode

public final void startLiveWindowMode()

Specified by:

startLiveWindowMode in interface LiveWindowSendable

stopLiveWindowMode

public final void stopLiveWindowMode()

Specified by:

stopLiveWindowMode in interface LiveWindowSendable

enableModule

public void enableModule()

Enable the module

Specified by:

enableModule in interface Module

disableModule

public void disableModule()

Disable the module

Specified by:

disableModule in interface Module

getModuleEnabled

public boolean getModuleEnabled()

Specified by:

getModuleEnabled in interface Module