public static double MotorRawToValue(PWMData pwm)
{
if (pwm == null) return 0.0;
ControllerType type = pwm.Type;
double transVal = pwm.RawValue;
//Make sure motor safety works
if (transVal == 0) return 0.0;
switch (type)
{
case ControllerType.None:
return 0.0;
case ControllerType.Jaguar:
return ReverseJaguarPWM(transVal);
case ControllerType.Talon:
return ReverseTalonPWM(transVal);
case ControllerType.TalonSRX:
return ReverseTalonSRXPWM(transVal);
case ControllerType.Victor:
return ReverseVictorPWM(transVal);
case ControllerType.VictorSP:
return ReverseVictorSPPWM(transVal);
case ControllerType.Spark:
return ReverseSparkPWM(transVal);
case ControllerType.SD540:
return ReverseSD540PWM(transVal);
case ControllerType.Servo:
return 0.0;
default:
throw new InvalidOperationException($"The type {type} is not a usable motor controller type");
}
}
/// <summary>
/// Creates a new PWM Speed controller for the Sim to use.
/// </summary>
/// <param name="port">The PWM port the Speed controller is attached to.</param>
public SimPWMController(int port)
{
PWMData = SimData.PWM[port];
}