Jaguar.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/


#include "Jaguar.h"
#include "DigitalModule.h"

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);
}

Jaguar::Jaguar(UINT32 channel) : SafePWM(channel)
{
        InitJaguar();
}

Jaguar::Jaguar(UINT8 moduleNumber, UINT32 channel) : SafePWM(moduleNumber, channel)
{
        InitJaguar();
}

Jaguar::~Jaguar()
{
}

void Jaguar::Set(float speed, UINT8 syncGroup)
{
        SetSpeed(speed);
}

float Jaguar::Get()
{
        return GetSpeed();
}

void Jaguar::Disable()
{
        SetRaw(kPwmDisabled);
}

void Jaguar::PIDWrite(float output)
{
        Set(output);
}