mirror of
https://github.com/wpilibsuite/allwpilib
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58 lines
2.0 KiB
C
58 lines
2.0 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef SENSORBASE_H_
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#define SENSORBASE_H_
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#include "ErrorBase.h"
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#include <stdio.h>
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#include "Base.h"
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/**
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* Base class for all sensors.
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* Stores most recent status information as well as containing utility functions for checking
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* channels and error processing.
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*/
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class SensorBase: public ErrorBase {
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public:
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SensorBase();
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virtual ~SensorBase();
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static void DeleteSingletons();
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static uint32_t GetDefaultAnalogModule() { return 1; }
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static uint32_t GetDefaultDigitalModule() { return 1; }
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static uint32_t GetDefaultSolenoidModule() { return 1; }
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static bool CheckAnalogModule(uint8_t moduleNumber);
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static bool CheckDigitalModule(uint8_t moduleNumber);
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static bool CheckPWMModule(uint8_t moduleNumber);
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static bool CheckRelayModule(uint8_t moduleNumber);
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static bool CheckSolenoidModule(uint8_t moduleNumber);
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static bool CheckDigitalChannel(uint32_t channel);
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static bool CheckRelayChannel(uint32_t channel);
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static bool CheckPWMChannel(uint32_t channel);
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static bool CheckAnalogChannel(uint32_t channel);
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static bool CheckSolenoidChannel(uint32_t channel);
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static const uint32_t kDigitalChannels = 14;
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static const uint32_t kAnalogChannels = 8;
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static const uint32_t kAnalogModules = 2;
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static const uint32_t kDigitalModules = 2;
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static const uint32_t kSolenoidChannels = 8;
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static const uint32_t kSolenoidModules = 2;
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static const uint32_t kPwmChannels = 10;
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static const uint32_t kRelayChannels = 8;
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static const uint32_t kChassisSlots = 8;
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protected:
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void AddToSingletonList();
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private:
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DISALLOW_COPY_AND_ASSIGN(SensorBase);
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static SensorBase *m_singletonList;
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SensorBase *m_nextSingleton;
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};
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#endif
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