[hal, wpilib] PWM Rewrite #7845
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component: hal
| @@ -4,7 +4,6 @@ nativeUtils { | |||
| groupId = "edu.wpi.first.thirdparty.frc2024.ceres" | |||
| artifactId = "ceres-cpp" | |||
| headerClassifier = "headers" | |||
| sourceClassifier = "sources" | |||
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Yes, but #7844 will likely be merged beforehand and make this OBE.
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Was the change missed in 7844?
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We haven't merged main into 2027 since then.
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| m_rawCbKey = REGISTER(PulseMicrosecond, "<raw", int32_t, int); | ||
| m_periodScaleCbKey = REGISTER(PeriodScale, "<period_scale", int32_t, int); | ||
| m_zeroLatchCbKey = REGISTER(ZeroLatch, "<zero_latch", bool, boolean); | ||
| m_outputPeriodCbKey = REGISTER(OutputPeriod, "<output_period", int32_t, int); |
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Need to update the websocket doc to match (both hardware_ws_api.md and wpilib-ws.yaml). Note this will break the Romi motor interface as well, but that should probably be changed to use a SimDevice.
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Theres already a decent chunk of romi breakages in 2027. But I'll update that for now.
| void SetSpeed(double val) override { HALSIM_SetPWMSpeed(m_index, val); } | ||
| void SetSpeed(double val) override { | ||
| HALSIM_SetPWMPulseMicrosecond(m_index, val); | ||
| } |
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Naming of Speed functions should be updated to be PulseMicrosecond or similar. Parameter/return types should also be changed from double to int32_t. But most likely this just needs a major update to use the SimDevice pieces instead? That can be a separate PR, we should just open an issue to track it.
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Yeah the 2nd one is what is really needed. I just wanted it compiling.
The HAL will only contain the output period and the raw microseconds. Higher level things such as SimDevice can handle everything else.