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DutyCycleEncoder: Fix simulation support (#2387)

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The DutyCycleEncoder class initializes AnalogTrigger, which is not supported in simulation.

To avoid this, do not use AnalogTrigger (or Counter) in simulation mode.

Fixes #2367

Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
This commit is contained in:
Joshua Shannon
2020-03-20 16:32:52 -05:00
committed by GitHub
parent 56fbb1fc33
commit 272eaf184f
3 changed files with 38 additions and 45 deletions
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27
wpilibj/src/main/java/edu/wpi/first/wpilibj/DutyCycleEncoder.java
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@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2019-2020 FIRST. 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. */
@@ -65,20 +65,19 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
}
private void init() {
m_analogTrigger = new AnalogTrigger(m_dutyCycle);
m_counter = new Counter();
m_simDevice = SimDevice.create("DutyCycleEncoder", m_dutyCycle.getFPGAIndex());
if (m_simDevice != null) {
m_simPosition = m_simDevice.createDouble("Position", false, 0.0);
m_simIsConnected = m_simDevice.createBoolean("Connected", false, true);
} else {
m_counter = new Counter();
m_analogTrigger = new AnalogTrigger(m_dutyCycle);
m_analogTrigger.setLimitsDutyCycle(0.25, 0.75);
m_counter.setUpSource(m_analogTrigger, AnalogTriggerType.kRisingPulse);
m_counter.setDownSource(m_analogTrigger, AnalogTriggerType.kFallingPulse);
}
m_analogTrigger.setLimitsDutyCycle(0.25, 0.75);
m_counter.setUpSource(m_analogTrigger, AnalogTriggerType.kRisingPulse);
m_counter.setDownSource(m_analogTrigger, AnalogTriggerType.kFallingPulse);
SendableRegistry.addLW(this, "DutyCycle Encoder", m_dutyCycle.getSourceChannel());
}
@@ -173,7 +172,9 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
* Reset the Encoder distance to zero.
*/
public void reset() {
m_counter.reset();
if (m_counter != null) {
m_counter.reset();
}
m_positionOffset = m_dutyCycle.getOutput();
}
@@ -209,8 +210,12 @@ public class DutyCycleEncoder implements Sendable, AutoCloseable {
@Override
public void close() {
m_counter.close();
m_analogTrigger.close();
if (m_counter != null) {
m_counter.close();
}
if (m_analogTrigger != null) {
m_analogTrigger.close();
}
if (m_ownsDutyCycle) {
m_dutyCycle.close();
}