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/**
* Copyright (c) 2015, 2017 Luke Shumaker.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the FIRST nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY FIRST AND CONTRIBUTORS``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY NONINFRINGEMENT AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL FIRST OR CONTRIBUTORS BE LIABLE FOR
* ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
* @author Luke Shumaker <lukeshu@sbcglobal.net>
*/
package org.usfirst.frc.team4272.robotlib;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.PIDOutput;
/**
* LimitSwitchedPIDOutput wraps a {@link PIDOutput}, ensuring that it
* does not go in a direction if a limit switch is tripped.
*/
public class LimitSwitchedPIDOutput implements PIDOutput {
private final PIDOutput out;
private final DigitalInput forward;
private final DigitalInput bakward;
private final boolean for_pressed;
private final boolean bak_pressed;
/**
* @param out The actual PIDOutput to write to.
* @param forward The forward (positive-direction) limit switch.
* @param for_pressed Which value from the forward switch is to be considered "pressed".
* @param backward The backward (negative-direction) limit switch.
* @param back_pressed Which value from the backward switch is to be considered "pressed".
*/
public LimitSwitchedPIDOutput(PIDOutput out,
DigitalInput forward, boolean for_pressed,
DigitalInput backward, boolean back_pressed) {
this.out = out;
this.forward = forward;
this.bakward = backward;
this.for_pressed = for_pressed;
this.bak_pressed = back_pressed;
}
/**
* Like the full constructor, but assume that {@code true}
* indicates "pressed" for both switches.
*
* @param out The actual PIDOutput to write to.
* @param forward The forward (positive-direction) limit switch.
* @param backward The backward (negative-direction) limit switch.
*/
public LimitSwitchedPIDOutput(PIDOutput out, DigitalInput forward, DigitalInput backward) {
this(out, forward, true, backward, true);
}
public void pidWrite(double v) {
if (forward.get() == for_pressed) { v = Math.min(v, 0); }
if (bakward.get() == bak_pressed) { v = Math.max(v, 0); }
out.pidWrite(v);
}
}
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