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Completed artf2662: removed Start()/Stop() in Encoders and Counters.

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Change-Id: I11954bb5f66e54461455637d79013c1071f5d00f
This commit is contained in:
Colby Skeggs
2014-07-29 09:58:15 -07:00
committed by Thomas Clark
parent c0af235050
commit 0bb13d86ea
23 changed files with 164 additions and 225 deletions
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52
wpilibc/wpilibC++/lib/Encoder.cpp
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@@ -14,6 +14,9 @@
/**
* Common initialization code for Encoders.
* This code allocates resources for Encoders and is common to all constructors.
*
* The counter will start counting immediately.
*
* @param reverseDirection If true, counts down instead of up (this is all relative)
* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
* selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
@@ -64,11 +67,21 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType)
HALReport(HALUsageReporting::kResourceType_Encoder, index, encodingType);
LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannelForRouting(), this);
if (StatusIsFatal()) return;
if (!m_counter) {
int32_t status = 0;
startEncoder(m_encoder, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* Encoder constructor.
* Construct a Encoder given a and b channels.
*
* The counter will start counting immediately.
*
* @param aChannel The a channel digital input channel.
* @param bChannel The b channel digital input channel.
* @param reverseDirection represents the orientation of the encoder and inverts the output values
@@ -95,6 +108,9 @@ Encoder::Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection, En
* Construct a Encoder given a and b channels as digital inputs. This is used in the case
* where the digital inputs are shared. The Encoder class will not allocate the digital inputs
* and assume that they already are counted.
*
* The counter will start counting immediately.
*
* @param aSource The source that should be used for the a channel.
* @param bSource the source that should be used for the b channel.
* @param reverseDirection represents the orientation of the encoder and inverts the output values
@@ -124,6 +140,9 @@ Encoder::Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDir
* Construct a Encoder given a and b channels as digital inputs. This is used in the case
* where the digital inputs are shared. The Encoder class will not allocate the digital inputs
* and assume that they already are counted.
*
* The counter will start counting immediately.
*
* @param aSource The source that should be used for the a channel.
* @param bSource the source that should be used for the b channel.
* @param reverseDirection represents the orientation of the encoder and inverts the output values
@@ -165,39 +184,6 @@ Encoder::~Encoder()
}
}
/**
* Start the Encoder.
* Starts counting pulses on the Encoder device.
*/
void Encoder::Start()
{
if (StatusIsFatal()) return;
if (m_counter)
m_counter->Start();
else
{
int32_t status = 0;
startEncoder(m_encoder, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* Stops counting pulses on the Encoder device. The value is not changed.
*/
void Encoder::Stop()
{
if (StatusIsFatal()) return;
if (m_counter)
m_counter->Stop();
else
{
int32_t status = 0;
stopEncoder(m_encoder, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* Gets the raw value from the encoder.
* The raw value is the actual count unscaled by the 1x, 2x, or 4x scale