allwpilib/wpilibc/wpilibC++Devices/include/AnalogInput.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/
#pragma once

#include "HAL/HAL.hpp"
#include "SensorBase.h"
#include "PIDSource.h"
#include "LiveWindow/LiveWindowSendable.h"

#include <memory>

/**
 * Analog input class.
 *
 * Connected to each analog channel is an averaging and oversampling engine.
 * This engine accumulates
 * the specified ( by SetAverageBits() and SetOversampleBits() ) number of
 * samples before returning a new
 * value.  This is not a sliding window average.  The only difference between
 * the oversampled samples and
 * the averaged samples is that the oversampled samples are simply accumulated
 * effectively increasing the
 * resolution, while the averaged samples are divided by the number of samples
 * to retain the resolution,
 * but get more stable values.
 */
class AnalogInput : public SensorBase,
                    public PIDSource,
                    public LiveWindowSendable {
 public:
  static const uint8_t kAccumulatorModuleNumber = 1;
  static const uint32_t kAccumulatorNumChannels = 2;
  static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels];

  explicit AnalogInput(uint32_t channel);
  virtual ~AnalogInput();

  int16_t GetValue() const;
  int32_t GetAverageValue() const;

  float GetVoltage() const;
  float GetAverageVoltage() const;

  uint32_t GetChannel() const;

  void SetAverageBits(uint32_t bits);
  uint32_t GetAverageBits() const;
  void SetOversampleBits(uint32_t bits);
  uint32_t GetOversampleBits() const;

  uint32_t GetLSBWeight() const;
  int32_t GetOffset() const;

  bool IsAccumulatorChannel() const;
  void InitAccumulator();
  void SetAccumulatorInitialValue(int64_t value);
  void ResetAccumulator();
  void SetAccumulatorCenter(int32_t center);
  void SetAccumulatorDeadband(int32_t deadband);
  int64_t GetAccumulatorValue() const;
  uint32_t GetAccumulatorCount() const;
  void GetAccumulatorOutput(int64_t &value, uint32_t &count) const;

  static void SetSampleRate(float samplesPerSecond);
  static float GetSampleRate();

  double PIDGet() override;

  void UpdateTable() override;
  void StartLiveWindowMode() override;
  void StopLiveWindowMode() override;
  std::string GetSmartDashboardType() const override;
  void InitTable(std::shared_ptr<ITable> subTable) override;
  std::shared_ptr<ITable> GetTable() const override;

 private:
  uint32_t m_channel;
  //TODO: Adjust HAL to avoid use of raw pointers.
  void *m_port;
  int64_t m_accumulatorOffset;

  std::shared_ptr<ITable> m_table = nullptr;
};