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Add FPGA Duty Cycle support (#1987)

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This commit is contained in:
Thad House
2019-11-01 23:41:30 -07:00
committed by Peter Johnson
parent 509819d83f
commit 1d695a1660
42 changed files with 1744 additions and 72 deletions
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31
wpilibc/src/main/native/include/frc/AnalogTrigger.h
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@@ -19,6 +19,7 @@
namespace frc {
class AnalogInput;
class DutyCycle;
class SendableBuilder;
class AnalogTrigger : public ErrorBase,
@@ -45,6 +46,13 @@ class AnalogTrigger : public ErrorBase,
*/
explicit AnalogTrigger(AnalogInput* channel);
/**
* Construct an analog trigger given a duty cycle input.
*
* @param channel The pointer to the existing DutyCycle object
*/
explicit AnalogTrigger(DutyCycle* dutyCycle);
~AnalogTrigger() override;
AnalogTrigger(AnalogTrigger&& rhs);
@@ -60,6 +68,16 @@ class AnalogTrigger : public ErrorBase,
*/
void SetLimitsVoltage(double lower, double upper);
/**
* Set the upper and lower duty cycle limits of the analog trigger.
*
* The limits are given as floating point values between 0 and 1.
*
* @param lower The lower limit of the trigger in percentage.
* @param upper The upper limit of the trigger in percentage.
*/
void SetLimitsDutyCycle(double lower, double upper);
/**
* Set the upper and lower limits of the analog trigger.
*
@@ -82,6 +100,17 @@ class AnalogTrigger : public ErrorBase,
*/
void SetAveraged(bool useAveragedValue);
/**
* Configure the analog trigger to use the duty cycle vs. raw values.
*
* If the value is true, then the duty cycle value is selected for the analog
* trigger, otherwise the immediate value is used.
*
* @param useDutyCycle If true, use the duty cycle value, otherwise use the
* instantaneous reading
*/
void SetDutyCycle(bool useDutyCycle);
/**
* Configure the analog trigger to use a filtered value.
*
@@ -139,9 +168,9 @@ class AnalogTrigger : public ErrorBase,
void InitSendable(SendableBuilder& builder) override;
private:
int m_index;
hal::Handle<HAL_AnalogTriggerHandle> m_trigger;
AnalogInput* m_analogInput = nullptr;
DutyCycle* m_dutyCycle = nullptr;
bool m_ownsAnalog = false;
};