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[wpilib] Remove GearTooth (#3293)

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This sensor has had zero usage for many years and was last in the KOP
over a decade ago.  There are much better rotation sensors available,
and it's no longer worth maintaining this class.
This commit is contained in:
Peter Johnson
2021-04-10 10:28:05 -07:00
committed by GitHub
parent 397e569aaf
commit 1dc81669c2
3 changed files with 0 additions and 225 deletions
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97
wpilibj/src/main/java/edu/wpi/first/wpilibj/GearTooth.java
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@@ -1,97 +0,0 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.FRCNetComm.tResourceType;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.wpilibj.smartdashboard.SendableBuilder;
import edu.wpi.first.wpilibj.smartdashboard.SendableRegistry;
/**
* Alias for counter class. Implement the gear tooth sensor supplied by FIRST. Currently there is no
* reverse sensing on the gear tooth sensor, but in future versions we might implement the necessary
* timing in the FPGA to sense direction.
*
* @deprecated The only sensor this works with is no longer available and no teams use it according
* to FMS usage reporting.
*/
@Deprecated(since = "2020", forRemoval = true)
public class GearTooth extends Counter {
private static final double kGearToothThreshold = 55e-6;
/** Common code called by the constructors. */
public void enableDirectionSensing(boolean directionSensitive) {
if (directionSensitive) {
setPulseLengthMode(kGearToothThreshold);
}
}
/**
* Construct a GearTooth sensor given a channel.
*
* <p>No direction sensing is assumed.
*
* @param channel The GPIO channel that the sensor is connected to.
*/
public GearTooth(final int channel) {
this(channel, false);
}
/**
* Construct a GearTooth sensor given a channel.
*
* @param channel The DIO channel that the sensor is connected to. 0-9 are on-board, 10-25 are on
* the MXP port
* @param directionSensitive True to enable the pulse length decoding in hardware to specify count
* direction.
*/
public GearTooth(final int channel, boolean directionSensitive) {
super(channel);
enableDirectionSensing(directionSensitive);
if (directionSensitive) {
HAL.report(tResourceType.kResourceType_GearTooth, channel + 1, 0, "D");
} else {
HAL.report(tResourceType.kResourceType_GearTooth, channel + 1, 0);
}
SendableRegistry.setName(this, "GearTooth", channel);
}
/**
* Construct a GearTooth sensor given a digital input. This should be used when sharing digital
* inputs.
*
* @param source An existing DigitalSource object (such as a DigitalInput)
* @param directionSensitive True to enable the pulse length decoding in hardware to specify count
* direction.
*/
public GearTooth(DigitalSource source, boolean directionSensitive) {
super(source);
enableDirectionSensing(directionSensitive);
if (directionSensitive) {
HAL.report(tResourceType.kResourceType_GearTooth, source.getChannel() + 1, 0, "D");
} else {
HAL.report(tResourceType.kResourceType_GearTooth, source.getChannel() + 1, 0);
}
SendableRegistry.setName(this, "GearTooth", source.getChannel());
}
/**
* Construct a GearTooth sensor given a digital input. This should be used when sharing digital
* inputs.
*
* <p>No direction sensing is assumed.
*
* @param source An object that fully describes the input that the sensor is connected to.
*/
public GearTooth(DigitalSource source) {
this(source, false);
}
@Override
public void initSendable(SendableBuilder builder) {
super.initSendable(builder);
builder.setSmartDashboardType("Gear Tooth");
}
}