/**
* Set the PWM value based on a speed.
*
* <p>This is intended to be used by speed controllers.
*
* @pre SetMaxPositivePwm() called.
* @pre SetMinPositivePwm() called.
* @pre SetCenterPwm() called.
* @pre SetMaxNegativePwm() called.
* @pre SetMinNegativePwm() called.
* @param speed The speed to set the speed controller between -1.0 and 1.0.
*/
final void setSpeed(double speed) {
// clamp speed to be in the range 1.0 >= speed >= -1.0
if (speed < -1.0) {
speed = -1.0;
} else if (speed > 1.0) {
speed = 1.0;
}
// // calculate the desired output pwm value by scaling the speed
// appropriately
// int rawValue;
// if (speed == 0.0) {
// rawValue = getCenterPwm();
// } else if (speed > 0.0) {
// rawValue =
// (int) (speed * ((double) getPositiveScaleFactor()) + ((double)
// getMinPositivePwm()) + 0.5);
// } else {
// rawValue =
// (int) (speed * ((double) getNegativeScaleFactor()) + ((double)
// getMaxNegativePwm()) + 0.5);
// }
//
// // send the computed pwm value to the FPGA
// setRaw(rawValue);
// The above is too complicated to simulate, just fake it
PWMJNI.__setPWM(m_port, speed);
}
