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Updates/Tests the AnalogPotentiometer

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New constructor for the AnalogPotentiometer to allow users to pass it an AnalogInput into the constructor
New FakePotentiometerSource to emulate a AnalogPotentiometer

Change-Id: I0f85b3d38e99d7ccbc7676bdf17fc3ec7e041e84
This commit is contained in:
Jonathan Leitschuh
2014-06-18 11:02:23 -04:00
parent 60cfabca81
commit 1fb6d9fd0c
5 changed files with 192 additions and 12 deletions
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79
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
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@@ -1,3 +1,9 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2014. 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 the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.interfaces.Potentiometer;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
@@ -12,18 +18,20 @@ import edu.wpi.first.wpilibj.tables.ITable;
* @author Alex Henning
*/
public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
private int m_channel;
private double m_scale, m_offset;
private AnalogInput m_analog_input;
private boolean m_init_analog_input;
/**
* Common initialization code called by all constructors.
* @param input The {@link AnalogInput} this potentiometer is plugged into.
* @param scale The scaling to multiply the voltage by to get a meaningful unit.
* @param offset The offset to add to the scaled value for controlling the zero value
*/
private void initPot(final int channel, double scale, double offset) {
this.m_channel = channel;
private void initPot(final AnalogInput input, double scale, double offset) {
this.m_scale = scale;
this.m_offset = offset;
m_analog_input = new AnalogInput(channel);
m_analog_input = input;
}
/**
@@ -41,7 +49,28 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
* @param offset The offset to add to the scaled value for controlling the zero value
*/
public AnalogPotentiometer(final int channel, double scale, double offset) {
initPot(channel, scale, offset);
AnalogInput input = new AnalogInput(channel);
m_init_analog_input = true;
initPot(input, scale, offset);
}
/**
* AnalogPotentiometer constructor.
*
* Use the scaling and offset values so that the output produces
* meaningful values. I.E: you have a 270 degree potentiometer and
* you want the output to be degrees with the halfway point as 0
* degrees. The scale value is 270.0(degrees)/5.0(volts) and the
* offset is -135.0 since the halfway point after scaling is 135
* degrees.
*
* @param input The {@link AnalogInput} this potentiometer is plugged into.
* @param scale The scaling to multiply the voltage by to get a meaningful unit.
* @param offset The offset to add to the scaled value for controlling the zero value
*/
public AnalogPotentiometer(final AnalogInput input, double scale, double offset) {
m_init_analog_input = false;
initPot(input, scale, offset);
}
/**
@@ -58,7 +87,24 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
* @param scale The scaling to multiply the voltage by to get a meaningful unit.
*/
public AnalogPotentiometer(final int channel, double scale) {
initPot(channel, scale, 0);
this(channel, scale, 0);
}
/**
* AnalogPotentiometer constructor.
*
* Use the scaling and offset values so that the output produces
* meaningful values. I.E: you have a 270 degree potentiometer and
* you want the output to be degrees with the halfway point as 0
* degrees. The scale value is 270.0(degrees)/5.0(volts) and the
* offset is -135.0 since the halfway point after scaling is 135
* degrees.
*
* @param input The {@link AnalogInput} this potentiometer is plugged into.
* @param scale The scaling to multiply the voltage by to get a meaningful unit.
*/
public AnalogPotentiometer(final AnalogInput input, double scale) {
this(input, scale, 0);
}
/**
@@ -67,7 +113,16 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
* @param channel The analog channel this potentiometer is plugged into.
*/
public AnalogPotentiometer(final int channel) {
initPot(channel, 1, 0);
this(channel, 1, 0);
}
/**
* AnalogPotentiometer constructor.
*
* @param input The {@link AnalogInput} this potentiometer is plugged into.
*/
public AnalogPotentiometer(final AnalogInput input) {
this(input, 1, 0);
}
/**
@@ -89,7 +144,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
}
/*
/**
* Live Window code, only does anything if live window is activated.
*/
public String getSmartDashboardType(){
@@ -120,6 +175,14 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
public ITable getTable(){
return m_table;
}
public void free(){
if(m_init_analog_input){
m_analog_input.free();
m_analog_input = null;
m_init_analog_input = false;
}
}
/**
* Analog Channels don't have to do anything special when entering the LiveWindow.

10
wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/interfaces/Potentiometer.java
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@@ -1,7 +1,9 @@
/*
* To change this template, choose Tools | Templates
* and open the template in the editor.
*/
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2014. 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 the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj.interfaces;
import edu.wpi.first.wpilibj.PIDSource;