PWM.h

/*----------------------------------------------------------------------------*/
/* 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.  */
/*----------------------------------------------------------------------------*/

#ifndef PWM_H_
#define PWM_H_

#include "SensorBase.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "tables/ITableListener.h"

class DigitalModule;

class PWM : public SensorBase, public ITableListener, public LiveWindowSendable
{
    friend class DigitalModule;
public:
    typedef enum {kPeriodMultiplier_1X = 1, kPeriodMultiplier_2X = 2, kPeriodMultiplier_4X = 4} PeriodMultiplier;

    explicit PWM(uint32_t channel);
    PWM(uint8_t moduleNumber, uint32_t channel);
    virtual ~PWM();
    virtual void SetRaw(uint8_t value);
    virtual uint8_t GetRaw();
    void SetPeriodMultiplier(PeriodMultiplier mult);
    void EnableDeadbandElimination(bool eliminateDeadband);
    void SetBounds(int32_t max, int32_t deadbandMax, int32_t center, int32_t deadbandMin, int32_t min);
    void SetBounds(double max, double deadbandMax, double center, double deadbandMin, double min);
    uint32_t GetChannel() {return m_channel;}
    uint32_t GetModuleNumber();

protected:
    static constexpr float kDefaultPwmPeriod = 5.05;
    static constexpr float kDefaultPwmCenter = 1.5;
    static const int32_t kDefaultPwmStepsDown = 128;
    static const int32_t kPwmDisabled = 0;

    virtual void SetPosition(float pos);
    virtual float GetPosition();
    virtual void SetSpeed(float speed);
    virtual float GetSpeed();

    bool m_eliminateDeadband;
    int32_t m_maxPwm;
    int32_t m_deadbandMaxPwm;
    int32_t m_centerPwm;
    int32_t m_deadbandMinPwm;
    int32_t m_minPwm;
    
    void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
    void UpdateTable();
    void StartLiveWindowMode();
    void StopLiveWindowMode();
    std::string GetSmartDashboardType();
    void InitTable(ITable *subTable);
    ITable * GetTable();
    
    ITable *m_table;

private:
    void InitPWM(uint8_t moduleNumber, uint32_t channel);
    uint32_t m_channel;
    DigitalModule *m_module;
    int32_t GetMaxPositivePwm() { return m_maxPwm; };
    int32_t GetMinPositivePwm() { return m_eliminateDeadband ? m_deadbandMaxPwm : m_centerPwm + 1; };
    int32_t GetCenterPwm() { return m_centerPwm; };
    int32_t GetMaxNegativePwm() { return m_eliminateDeadband ? m_deadbandMinPwm : m_centerPwm - 1; };
    int32_t GetMinNegativePwm() { return m_minPwm; };
    int32_t GetPositiveScaleFactor() {return GetMaxPositivePwm() - GetMinPositivePwm();} 
    int32_t GetNegativeScaleFactor() {return GetMaxNegativePwm() - GetMinNegativePwm();} 
    int32_t GetFullRangeScaleFactor() {return GetMaxPositivePwm() - GetMinNegativePwm();} 
};

#endif