Mau dylanlamarca #1298
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Mau dylanlamarca #1298
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Created a clone of the "sim" directory, without the MockData subfolder, and named it "mau"
Now the HAL Initializer method creates a new instance of VMXPi(), and then passes pointers to the vmxpi's controller objects (VMXIO, AHRS, VMXCAN, VMXTime, VMXThread, VMXVersion, and VMXPower) to WPI objects which use the controllers cooresponding functions
Replaced passing pointers to the vmx controllers to using global variables
Wrote the first iteration in making the WPI Accelerometer, AnalogAccumulator, AnalogGyro, AnalogInput, and CAN utilize VMX functions
Removed #includes to MockData files in Mau and commented out references to Sim/MockData functionality
Removed #includes to MockData files in Mau and commented out references to Sim/MockData functionality
Replaced the extern "C" that was deleted by mistake
Deleted the Data JNI files from the Mau subdirectory
Refactored the VMXPointers.h file to be called VMXHandler.h, as well as implementing the changes suggested/required
Moved the DriverStation directory from the base directory of allwpilib to the Mau subdirectory
Created two json files. One contains all of the indexes, types, and capabilities of the VMX channels and the other Maps each WPI Channel to a VMX Channel
Relocated the header file that handles VMX functions for the wpi to the new Translator sub-directory of Mau
Created a rough class called Mau_DriveData which should contain all of the information necessary for DriverStation communication through BagelCpp
Added the rapidJson library (https://github.com/Tencent/rapidjson) to the translator subdirectory so it can be utilized to efficiently read the Channel and Enum maps
Include VMXHandler in PWM so we can translate WPI operations to VMX operations
Finished the channel mapping mechanism, made (most of) the mau files buildable, and implemented the channel mapper in PWM
Reorganized the DriverStation subdirectory, changed what DriveData holds, and how DriveData is accessed
Made DriveData utilize BagelCpp fwi structs through a new header file BagelDriveData.h and more
…ilib into Mau.DylanLaMarca
…ilib into Mau.DylanLaMarca
Commented out a number of small oversights which caused build errors in non-vital parts of the HAL, including the entirety of Interrupts because it's a saucy little minxy
Added a number of functions to Mau_DriveData and the BagelDriveData utility to update individual ControlWord booleans and JoystickDescriptors
…ilib into Mau.DylanLaMarca
…libwpiHal.so or any java)
DriverStation now initializes all of the comms. When created it creates the shared instance of DriveData and HAL_WaitForDSData waits for the shared Data's signal, and HAL_InitializeDriverStation starts the BagelCpp's ds_comms threads
…ilib into Mau.DylanLaMarca
****The include files are not all present, the CMakeLists.txt file is correct, but the build environment is not. Until that is updated, FRC applications will not run successfully.
…ilib into Mau.DylanLaMarca
Deleted the Toast shared memory stuff and integrated the structure of ds_comms into DriverStation
Fixed the naming error in Interrupts init and un-commented Interrupts
Changed the const filepaths that the FileHandler uses to locate the json-map files to /maps, which is where cmake will store them with the library
…ilib into Mau.DylanLaMarca
Added declaration of mau::sharedMemory and added undeclared variables
Uncommented all of Extensions.cpp
Relocated testing isDS attached to tcp Thread, Changed Mau_DriveData to return no pointers, but have yet to build and completely test
Changed tests of time recieved from the VMXTime to expect and test in microseconds instead of milliseconds, as well as decreasing the expected sample rate
NOTE: This requires the latest VMXPI-HAL (v. 1.1.148), which contains a new PWM-related API function. - Updated ChannelMap.json and PortsInternal to properly reflect all 22 VMXPi PWM Channels. - Update PWM.cpp to correctly select correct VMXPI PWM Port Index during initialization. - Update PWM.cpp to support "WPI Squelched" outputs, needed for Servo support. - Update HAL.cpp to use modified VMXPi class constructor call (w/realtime flag = true) - Update DigitalInternal.h to support wider range (finer resolution) of PWM Steps - Update Robot.cpp test program to simultaneously test 3 motor controllers and 1 servo.
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Pull Request Deleted; this was mistakenly added as pull request to wpilibsuite allwpilib; it is intended for the Kauai Labs allwpilib fork instead. |
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This is meant to be in your repo, not here, right @kauailabs ? |
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That was an error on my part. Sorry 'bout that, please ignore/discard this
pull request.
…On Sat, Sep 1, 2018 at 12:43 PM Thad House ***@***.***> wrote:
This is meant to be in your repo, not here, right @kauailabs
<https://github.com/kauailabs> ?
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<#1298 (comment)>,
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pjbuterbaugh
pushed a commit
to pjbuterbaugh/allwpilib
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Jun 15, 2023
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This pull request replaces Dylan's previous pull requests. This pull request includes not only the contents of Dylan's previous pull request, but also change added by Scott to ensure proper operation of PWM for Motor Controllers as well as Servos, and updates to the Mau ChannelMap to support all 22 VMXPi channels.