diff --git a/hal/lib/Athena/Analog.cpp b/hal/lib/Athena/Analog.cpp index 3e3c65a95b..ee439ce579 100644 --- a/hal/lib/Athena/Analog.cpp +++ b/hal/lib/Athena/Analog.cpp @@ -27,7 +27,8 @@ struct AnalogPort { bool analogSampleRateSet = false; MUTEX_ID analogRegisterWindowSemaphore = NULL; -tAI* analogSystem = NULL; +tAI* analogInputSystem = NULL; +tAO* analogOutputSystem = NULL; uint32_t analogNumChannelsToActivate = 0; // Utility methods defined below. @@ -43,12 +44,13 @@ bool analogSystemInitialized = false; void initializeAnalog(int32_t *status) { if (analogSystemInitialized) return; analogRegisterWindowSemaphore = initializeMutexRecursive(); - analogSystem = tAI::create(status); + analogInputSystem = tAI::create(status); + analogOutputSystem = tAO::create(status); setAnalogNumChannelsToActivate(kAnalogInputPins); setAnalogSampleRate(kDefaultSampleRate, status); analogSystemInitialized = true; } - + /** * Initialize the analog input port using the given port object. */ @@ -64,12 +66,12 @@ void* initializeAnalogInputPort(void* port_pointer, int32_t *status) { } else analog_port->accumulator = NULL; // Set default configuration - analogSystem->writeScanList(port->pin, port->pin, status); + analogInputSystem->writeScanList(port->pin, port->pin, status); setAnalogAverageBits(analog_port, kDefaultAverageBits, status); setAnalogOversampleBits(analog_port, kDefaultOversampleBits, status); return analog_port; } - + /** * Initialize the analog output port using the given port object. */ @@ -86,7 +88,7 @@ void* initializeAnalogOutputPort(void* port_pointer, int32_t *status) { /** * Check that the analog module number is valid. - * + * * @return Analog module is valid and present */ bool checkAnalogModule(uint8_t module) { @@ -97,7 +99,7 @@ bool checkAnalogModule(uint8_t module) { * Check that the analog output channel number is value. * Verify that the analog channel number is one of the legal channel numbers. Channel numbers * are 0-based. - * + * * @return Analog channel is valid */ bool checkAnalogInputChannel(uint32_t pin) { @@ -110,7 +112,7 @@ bool checkAnalogInputChannel(uint32_t pin) { * Check that the analog output channel number is value. * Verify that the analog channel number is one of the legal channel numbers. Channel numbers * are 0-based. - * + * * @return Analog channel is valid */ bool checkAnalogOutputChannel(uint32_t pin) { @@ -119,6 +121,25 @@ bool checkAnalogOutputChannel(uint32_t pin) { return false; } +void setAnalogOutput(void* analog_port_pointer, double voltage, int32_t *status) { + AnalogPort* port = (AnalogPort*) analog_port_pointer; + + uint16_t rawValue = (uint16_t)(voltage / 5.0 * 0x1000); + + if(voltage < 0.0) rawValue = 0; + else if(voltage > 5.0) rawValue = 0x1000; + + analogOutputSystem->writeMXP(port->port.pin, rawValue, status); +} + +double getAnalogOutput(void* analog_port_pointer, int32_t *status) { + AnalogPort* port = (AnalogPort*) analog_port_pointer; + + uint16_t rawValue = analogOutputSystem->readMXP(port->port.pin, status); + + return rawValue * 5.0 / 0x1000; +} + /** * Set the sample rate. * @@ -145,7 +166,7 @@ void setAnalogSampleRate(double samplesPerSecond, int32_t *status) { tAI::tConfig config; config.ScanSize = getAnalogNumChannelsToActivate(status); config.ConvertRate = ticksPerConversion; - analogSystem->writeConfig(config, status); + analogInputSystem->writeConfig(config, status); // Indicate that the scan size has been commited to hardware. setAnalogNumChannelsToActivate(0); @@ -160,7 +181,7 @@ void setAnalogSampleRate(double samplesPerSecond, int32_t *status) { * @return Sample rate. */ float getAnalogSampleRate(int32_t *status) { - uint32_t ticksPerConversion = analogSystem->readLoopTiming(status); + uint32_t ticksPerConversion = analogInputSystem->readLoopTiming(status); uint32_t ticksPerSample = ticksPerConversion * getAnalogNumActiveChannels(status); return (float)kTimebase / (float)ticksPerSample; } @@ -211,7 +232,7 @@ float getAnalogSampleRateWithModule(uint8_t module, int32_t *status) { */ void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits, int32_t *status) { AnalogPort* port = (AnalogPort*) analog_port_pointer; - analogSystem->writeAverageBits(port->port.pin, bits, status); + analogInputSystem->writeAverageBits(port->port.pin, bits, status); } /** @@ -225,7 +246,7 @@ void setAnalogAverageBits(void* analog_port_pointer, uint32_t bits, int32_t *sta */ uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t *status) { AnalogPort* port = (AnalogPort*) analog_port_pointer; - uint32_t result = analogSystem->readAverageBits(port->port.pin, status); + uint32_t result = analogInputSystem->readAverageBits(port->port.pin, status); return result; } @@ -241,7 +262,7 @@ uint32_t getAnalogAverageBits(void* analog_port_pointer, int32_t *status) { */ void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits, int32_t *status) { AnalogPort* port = (AnalogPort*) analog_port_pointer; - analogSystem->writeOversampleBits(port->port.pin, bits, status); + analogInputSystem->writeOversampleBits(port->port.pin, bits, status); } @@ -256,7 +277,7 @@ void setAnalogOversampleBits(void* analog_port_pointer, uint32_t bits, int32_t * */ uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t *status) { AnalogPort* port = (AnalogPort*) analog_port_pointer; - uint32_t result = analogSystem->readOversampleBits(port->port.pin, status); + uint32_t result = analogInputSystem->readOversampleBits(port->port.pin, status); return result; } @@ -280,9 +301,9 @@ int16_t getAnalogValue(void* analog_port_pointer, int32_t *status) { { Synchronized sync(analogRegisterWindowSemaphore); - analogSystem->writeReadSelect(readSelect, status); - analogSystem->strobeLatchOutput(status); - value = (int16_t) analogSystem->readOutput(status); + analogInputSystem->writeReadSelect(readSelect, status); + analogInputSystem->strobeLatchOutput(status); + value = (int16_t) analogInputSystem->readOutput(status); } return value; @@ -311,9 +332,9 @@ int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status) { { Synchronized sync(analogRegisterWindowSemaphore); - analogSystem->writeReadSelect(readSelect, status); - analogSystem->strobeLatchOutput(status); - value = (int16_t) analogSystem->readOutput(status); + analogInputSystem->writeReadSelect(readSelect, status); + analogInputSystem->strobeLatchOutput(status); + value = (int16_t) analogInputSystem->readOutput(status); } return value; @@ -416,11 +437,11 @@ int32_t getAnalogOffset(void* analog_port_pointer, int32_t *status) { /** * Return the number of channels on the module in use. - * + * * @return Active channels. */ uint32_t getAnalogNumActiveChannels(int32_t *status) { - uint32_t scanSize = analogSystem->readConfig_ScanSize(status); + uint32_t scanSize = analogInputSystem->readConfig_ScanSize(status); if (scanSize == 0) return 8; return scanSize; @@ -428,13 +449,13 @@ uint32_t getAnalogNumActiveChannels(int32_t *status) { /** * Get the number of active channels. - * - * This is an internal function to allow the atomic update of both the + * + * This is an internal function to allow the atomic update of both the * number of active channels and the sample rate. - * + * * When the number of channels changes, use the new value. Otherwise, * return the curent value. - * + * * @return Value to write to the active channels field. */ uint32_t getAnalogNumChannelsToActivate(int32_t *status) { @@ -444,10 +465,10 @@ uint32_t getAnalogNumChannelsToActivate(int32_t *status) { /** * Set the number of active channels. - * + * * Store the number of active channels to set. Don't actually commit to hardware * until SetSampleRate(). - * + * * @param channels Number of active channels. */ void setAnalogNumChannelsToActivate(uint32_t channels) { @@ -458,7 +479,7 @@ void setAnalogNumChannelsToActivate(uint32_t channels) { /** * Is the channel attached to an accumulator. - * + * * @return The analog channel is attached to an accumulator. */ bool isAccumulatorChannel(void* analog_port_pointer, int32_t *status) { @@ -491,11 +512,11 @@ void resetAccumulator(void* analog_port_pointer, int32_t *status) { /** * Set the center value of the accumulator. - * + * * The center value is subtracted from each A/D value before it is added to the accumulator. This * is used for the center value of devices like gyros and accelerometers to make integration work * and to take the device offset into account when integrating. - * + * * This center value is based on the output of the oversampled and averaged source from channel 1. * Because of this, any non-zero oversample bits will affect the size of the value for this field. */ @@ -522,10 +543,10 @@ void setAccumulatorDeadband(void* analog_port_pointer, int32_t deadband, int32_t /** * Read the accumulated value. - * + * * Read the value that has been accumulating on channel 1. * The accumulator is attached after the oversample and average engine. - * + * * @return The 64-bit value accumulated since the last Reset(). */ int64_t getAccumulatorValue(void* analog_port_pointer, int32_t *status) { @@ -540,9 +561,9 @@ int64_t getAccumulatorValue(void* analog_port_pointer, int32_t *status) { /** * Read the number of accumulated values. - * + * * Read the count of the accumulated values since the accumulator was last Reset(). - * + * * @return The number of times samples from the channel were accumulated. */ uint32_t getAccumulatorCount(void* analog_port_pointer, int32_t *status) { @@ -556,10 +577,10 @@ uint32_t getAccumulatorCount(void* analog_port_pointer, int32_t *status) { /** * Read the accumulated value and the number of accumulated values atomically. - * + * * This function reads the value and count from the FPGA atomically. * This can be used for averaging. - * + * * @param value Pointer to the 64-bit accumulated output. * @param count Pointer to the number of accumulation cycles. */ @@ -728,7 +749,7 @@ int getAnalogAverageVoltageIntHack(void* analog_port_pointer, int32_t *status) { return floatToInt(getAnalogAverageVoltage(analog_port_pointer, status)); } - + // Doubles void setAnalogSampleRateIntHack(int samplesPerSecond, int32_t *status) { setAnalogSampleRate(intToFloat(samplesPerSecond), status); diff --git a/wpilibc/wpilibC++/include/Accelerometer.h b/wpilibc/wpilibC++/include/Accelerometer.h index 516bdd03f5..87bfd01459 100644 --- a/wpilibc/wpilibC++/include/Accelerometer.h +++ b/wpilibc/wpilibC++/include/Accelerometer.h @@ -5,7 +5,7 @@ /*----------------------------------------------------------------------------*/ #pragma once -#include "AnalogChannel.h" +#include "AnalogInput.h" #include "SensorBase.h" #include "PIDSource.h" #include "LiveWindow/LiveWindowSendable.h" @@ -20,7 +20,7 @@ class Accelerometer : public SensorBase, public PIDSource, public LiveWindowSend public: explicit Accelerometer(uint32_t channel); Accelerometer(uint8_t moduleNumber, uint32_t channel); - explicit Accelerometer(AnalogChannel *channel); + explicit Accelerometer(AnalogInput *channel); virtual ~Accelerometer(); float GetAcceleration(); @@ -38,7 +38,7 @@ public: private: void InitAccelerometer(); - AnalogChannel *m_analogChannel; + AnalogInput *m_AnalogInput; float m_voltsPerG; float m_zeroGVoltage; bool m_allocatedChannel; diff --git a/wpilibc/wpilibC++/include/AnalogChannel.h b/wpilibc/wpilibC++/include/AnalogInput.h similarity index 85% rename from wpilibc/wpilibC++/include/AnalogChannel.h rename to wpilibc/wpilibC++/include/AnalogInput.h index 7d6d9621a3..cc18272f29 100644 --- a/wpilibc/wpilibC++/include/AnalogChannel.h +++ b/wpilibc/wpilibC++/include/AnalogInput.h @@ -13,9 +13,7 @@ class AnalogModule; /** - * Analog channel class. - * - * Each analog channel is read from hardware as a 12-bit number representing -10V to 10V. + * Analog input class. * * Connected to each analog channel is an averaging and oversampling engine. This engine accumulates * the specified ( by SetAverageBits() and SetOversampleBits() ) number of samples before returning a new @@ -24,16 +22,16 @@ class AnalogModule; * resolution, while the averaged samples are divided by the number of samples to retain the resolution, * but get more stable values. */ -class AnalogChannel : public SensorBase, public PIDSource, public LiveWindowSendable +class AnalogInput : public SensorBase, public PIDSource, public LiveWindowSendable { public: static const uint8_t kAccumulatorModuleNumber = 1; static const uint32_t kAccumulatorNumChannels = 2; static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels]; - AnalogChannel(uint8_t moduleNumber, uint32_t channel); - explicit AnalogChannel(uint32_t channel); - virtual ~AnalogChannel(); + AnalogInput(uint8_t moduleNumber, uint32_t channel); + explicit AnalogInput(uint32_t channel); + virtual ~AnalogInput(); AnalogModule *GetModule(); @@ -74,7 +72,7 @@ public: ITable * GetTable(); private: - void InitChannel(uint8_t moduleNumber, uint32_t channel); + void InitAnalogInput(uint8_t moduleNumber, uint32_t channel); uint32_t m_channel, m_module; void* m_port; int64_t m_accumulatorOffset; diff --git a/wpilibc/wpilibC++/include/AnalogModule.h b/wpilibc/wpilibC++/include/AnalogModule.h index 20d4382538..62f6cbd7a2 100644 --- a/wpilibc/wpilibC++/include/AnalogModule.h +++ b/wpilibc/wpilibC++/include/AnalogModule.h @@ -23,7 +23,7 @@ public: static const long kTimebase = 40000000; ///< 40 MHz clock static const long kDefaultOversampleBits = 0; static const long kDefaultAverageBits = 7; - static const uint32_t kAnalogChannels = 8; + static const uint32_t kAnalogInputs = 8; static constexpr float kDefaultSampleRate = 50000.0; void SetSampleRate(float samplesPerSecond); @@ -48,5 +48,5 @@ protected: private: uint8_t m_moduleNumber; - void* m_ports[kAnalogChannels]; + void* m_ports[kAnalogInputs]; }; diff --git a/wpilibc/wpilibC++/include/AnalogOutput.h b/wpilibc/wpilibC++/include/AnalogOutput.h new file mode 100644 index 0000000000..563502dc05 --- /dev/null +++ b/wpilibc/wpilibC++/include/AnalogOutput.h @@ -0,0 +1,39 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) FIRST 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. */ +/*----------------------------------------------------------------------------*/ + +#pragma once + +#include "HAL/HAL.hpp" +#include "SensorBase.h" +#include "LiveWindow/LiveWindowSendable.h" + +/** + * MXP analog output class. + */ +class AnalogOutput : public SensorBase, public LiveWindowSendable +{ +public: + explicit AnalogOutput(uint32_t channel); + virtual ~AnalogOutput(); + + void SetVoltage(float voltage); + float GetVoltage(); + + void UpdateTable(); + void StartLiveWindowMode(); + void StopLiveWindowMode(); + std::string GetSmartDashboardType(); + void InitTable(ITable *subTable); + ITable *GetTable(); + +protected: + void InitAnalogOutput(uint32_t channel); + uint32_t m_channel; + void* m_port; + + ITable *m_table; +}; diff --git a/wpilibc/wpilibC++/include/AnalogTrigger.h b/wpilibc/wpilibC++/include/AnalogTrigger.h index 31d363fdb0..2083c40bf0 100644 --- a/wpilibc/wpilibC++/include/AnalogTrigger.h +++ b/wpilibc/wpilibC++/include/AnalogTrigger.h @@ -9,7 +9,7 @@ #include "AnalogTriggerOutput.h" #include "SensorBase.h" -class AnalogChannel; +class AnalogInput; class AnalogModule; class AnalogTrigger : public SensorBase @@ -18,7 +18,7 @@ class AnalogTrigger : public SensorBase public: AnalogTrigger(uint8_t moduleNumber, uint32_t channel); explicit AnalogTrigger(uint32_t channel); - explicit AnalogTrigger(AnalogChannel *channel); + explicit AnalogTrigger(AnalogInput *channel); virtual ~AnalogTrigger(); void SetLimitsVoltage(float lower, float upper); diff --git a/wpilibc/wpilibC++/include/DriverStation.h b/wpilibc/wpilibC++/include/DriverStation.h index 9127a980de..5e282792ab 100644 --- a/wpilibc/wpilibC++/include/DriverStation.h +++ b/wpilibc/wpilibC++/include/DriverStation.h @@ -11,7 +11,7 @@ #include "Task.h" struct HALCommonControlData; -class AnalogChannel; +class AnalogInput; /** * Provide access to the network communication data to / from the Driver Station. @@ -153,7 +153,7 @@ private: struct HALCommonControlData *m_controlData; uint8_t m_digitalOut; - AnalogChannel *m_batteryChannel; + AnalogInput *m_batteryChannel; MUTEX_ID m_statusDataSemaphore; Task m_task; Dashboard m_dashboardHigh; // the default dashboard packers diff --git a/wpilibc/wpilibC++/include/Gyro.h b/wpilibc/wpilibC++/include/Gyro.h index 7bf665b0d8..0f777bc750 100644 --- a/wpilibc/wpilibC++/include/Gyro.h +++ b/wpilibc/wpilibC++/include/Gyro.h @@ -9,7 +9,7 @@ #include "PIDSource.h" #include "LiveWindow/LiveWindowSendable.h" -class AnalogChannel; +class AnalogInput; class AnalogModule; /** @@ -20,7 +20,7 @@ class AnalogModule; * where it samples the gyro while at rest to determine the default offset. This is * subtracted from each sample to determine the heading. This gyro class must be used * with a channel that is assigned one of the Analog accumulators from the FPGA. See - * AnalogChannel for the current accumulator assignments. + * AnalogInput for the current accumulator assignments. */ class Gyro : public SensorBase, public PIDSource, public LiveWindowSendable { @@ -33,8 +33,8 @@ public: Gyro(uint8_t moduleNumber, uint32_t channel); explicit Gyro(uint32_t channel); - explicit Gyro(AnalogChannel *channel); - explicit Gyro(AnalogChannel &channel); + explicit Gyro(AnalogInput *channel); + explicit Gyro(AnalogInput &channel); virtual ~Gyro(); virtual float GetAngle(); virtual double GetRate(); @@ -55,7 +55,7 @@ public: private: void InitGyro(); - AnalogChannel *m_analog; + AnalogInput *m_analog; float m_voltsPerDegreePerSecond; float m_offset; bool m_channelAllocated; diff --git a/wpilibc/wpilibC++/include/NetworkCommunication/UsageReporting.h b/wpilibc/wpilibC++/include/NetworkCommunication/UsageReporting.h index 918ac5ae63..91d4ceba86 100644 --- a/wpilibc/wpilibC++/include/NetworkCommunication/UsageReporting.h +++ b/wpilibc/wpilibC++/include/NetworkCommunication/UsageReporting.h @@ -26,7 +26,7 @@ namespace nUsageReporting kResourceType_CANPlugin, kResourceType_Accelerometer, kResourceType_ADXL345, - kResourceType_AnalogChannel, + kResourceType_AnalogInput, kResourceType_AnalogTrigger, kResourceType_AnalogTriggerOutput, kResourceType_CANJaguar, diff --git a/wpilibc/wpilibC++/include/SensorBase.h b/wpilibc/wpilibC++/include/SensorBase.h index becfe499a5..29d1de7c9f 100644 --- a/wpilibc/wpilibC++/include/SensorBase.h +++ b/wpilibc/wpilibC++/include/SensorBase.h @@ -40,12 +40,14 @@ public: static bool CheckDigitalChannel(uint32_t channel); static bool CheckRelayChannel(uint32_t channel); static bool CheckPWMChannel(uint32_t channel); - static bool CheckAnalogChannel(uint32_t channel); + static bool CheckAnalogInput(uint32_t channel); + static bool CheckAnalogOutput(uint32_t channel); static bool CheckSolenoidChannel(uint32_t channel); static bool CheckPDPChannel(uint32_t channel); static const uint32_t kDigitalChannels = 20; - static const uint32_t kAnalogChannels = 8; + static const uint32_t kAnalogInputs = 8; + static const uint32_t kAnalogOutputs = 2; static const uint32_t kAnalogModules = 2; static const uint32_t kDigitalModules = 2; static const uint32_t kSolenoidChannels = 8; diff --git a/wpilibc/wpilibC++/include/WPILib.h b/wpilibc/wpilibC++/include/WPILib.h index eebf678fae..9d6b64c887 100644 --- a/wpilibc/wpilibC++/include/WPILib.h +++ b/wpilibc/wpilibC++/include/WPILib.h @@ -11,7 +11,8 @@ #include "Accelerometer.h" #include "ADXL345_I2C.h" #include "ADXL345_SPI.h" -#include "AnalogChannel.h" +#include "AnalogInput.h" +#include "AnalogOutput.h" #include "AnalogModule.h" #include "AnalogTrigger.h" #include "AnalogTriggerOutput.h" @@ -85,4 +86,3 @@ #include "Victor.h" // XXX: #include "Vision/AxisCamera.h" #include "WPIErrors.h" - diff --git a/wpilibc/wpilibC++/lib/Accelerometer.cpp b/wpilibc/wpilibC++/lib/Accelerometer.cpp index 2ad1affbcd..799ca43a33 100644 --- a/wpilibc/wpilibC++/lib/Accelerometer.cpp +++ b/wpilibc/wpilibC++/lib/Accelerometer.cpp @@ -18,8 +18,8 @@ void Accelerometer::InitAccelerometer() m_table = NULL; m_voltsPerG = 1.0; m_zeroGVoltage = 2.5; - HALReport(HALUsageReporting::kResourceType_Accelerometer, m_analogChannel->GetChannel(), m_analogChannel->GetModuleNumber() - 1); - LiveWindow::GetInstance()->AddSensor("Accelerometer", m_analogChannel->GetModuleNumber(), m_analogChannel->GetChannel(), this); + HALReport(HALUsageReporting::kResourceType_Accelerometer, m_AnalogInput->GetChannel(), m_AnalogInput->GetModuleNumber() - 1); + LiveWindow::GetInstance()->AddSensor("Accelerometer", m_AnalogInput->GetModuleNumber(), m_AnalogInput->GetChannel(), this); } /** @@ -30,7 +30,7 @@ void Accelerometer::InitAccelerometer() */ Accelerometer::Accelerometer(uint32_t channel) { - m_analogChannel = new AnalogChannel(channel); + m_AnalogInput = new AnalogInput(channel); m_allocatedChannel = true; InitAccelerometer(); } @@ -46,18 +46,18 @@ Accelerometer::Accelerometer(uint32_t channel) */ Accelerometer::Accelerometer(uint8_t moduleNumber, uint32_t channel) { - m_analogChannel = new AnalogChannel(moduleNumber, channel); + m_AnalogInput = new AnalogInput(moduleNumber, channel); m_allocatedChannel = true; InitAccelerometer(); } /** - * Create a new instance of Accelerometer from an existing AnalogChannel. - * Make a new instance of accelerometer given an AnalogChannel. This is particularly + * Create a new instance of Accelerometer from an existing AnalogInput. + * Make a new instance of accelerometer given an AnalogInput. This is particularly * useful if the port is going to be read as an analog channel as well as through * the Accelerometer class. */ -Accelerometer::Accelerometer(AnalogChannel *channel) +Accelerometer::Accelerometer(AnalogInput *channel) { if (channel == NULL) { @@ -65,7 +65,7 @@ Accelerometer::Accelerometer(AnalogChannel *channel) } else { - m_analogChannel = channel; + m_AnalogInput = channel; InitAccelerometer(); } m_allocatedChannel = false; @@ -78,7 +78,7 @@ Accelerometer::~Accelerometer() { if (m_allocatedChannel) { - delete m_analogChannel; + delete m_AnalogInput; } } @@ -91,7 +91,7 @@ Accelerometer::~Accelerometer() */ float Accelerometer::GetAcceleration() { - return (m_analogChannel->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG; + return (m_AnalogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG; } /** diff --git a/wpilibc/wpilibC++/lib/AnalogChannel.cpp b/wpilibc/wpilibC++/lib/AnalogInput.cpp similarity index 80% rename from wpilibc/wpilibC++/lib/AnalogChannel.cpp rename to wpilibc/wpilibC++/lib/AnalogInput.cpp index 5d6355fb16..584847136e 100644 --- a/wpilibc/wpilibC++/lib/AnalogChannel.cpp +++ b/wpilibc/wpilibC++/lib/AnalogInput.cpp @@ -1,30 +1,30 @@ /*----------------------------------------------------------------------------*/ -/* Copyright (c) FIRST 2008. All Rights Reserved. */ +/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */ /*----------------------------------------------------------------------------*/ -#include "AnalogChannel.h" +#include "AnalogInput.h" #include "AnalogModule.h" //#include "NetworkCommunication/UsageReporting.h" #include "Resource.h" #include "WPIErrors.h" #include "LiveWindow/LiveWindow.h" -static Resource *channels = NULL; +static Resource *inputs = NULL; -const uint8_t AnalogChannel::kAccumulatorModuleNumber; -const uint32_t AnalogChannel::kAccumulatorNumChannels; -const uint32_t AnalogChannel::kAccumulatorChannels[] = {0, 1}; +const uint8_t AnalogInput::kAccumulatorModuleNumber; +const uint32_t AnalogInput::kAccumulatorNumChannels; +const uint32_t AnalogInput::kAccumulatorChannels[] = {0, 1}; /** * Common initialization. */ -void AnalogChannel::InitChannel(uint8_t moduleNumber, uint32_t channel) +void AnalogInput::InitAnalogInput(uint8_t moduleNumber, uint32_t channel) { m_table = NULL; char buf[64]; - Resource::CreateResourceObject(&channels, kAnalogModules * kAnalogChannels); + Resource::CreateResourceObject(&inputs, kAnalogModules * kAnalogInputs); if (!checkAnalogModule(moduleNumber)) { snprintf(buf, 64, "Analog Module %d", moduleNumber); @@ -33,63 +33,63 @@ void AnalogChannel::InitChannel(uint8_t moduleNumber, uint32_t channel) } if (!checkAnalogInputChannel(channel)) { - snprintf(buf, 64, "Analog Channel %d", channel); + snprintf(buf, 64, "analog input %d", channel); wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf); return; } snprintf(buf, 64, "Analog Input %d (Module: %d)", channel, moduleNumber); - if (channels->Allocate((moduleNumber - 1) * kAnalogChannels + channel, buf) == ~0ul) + if (inputs->Allocate((moduleNumber - 1) * kAnalogInputs + channel, buf) == ~0ul) { - CloneError(channels); + CloneError(inputs); return; } m_channel = channel; m_module = moduleNumber; - + void* port = getPortWithModule(moduleNumber, channel); int32_t status = 0; m_port = initializeAnalogInputPort(port, &status); wpi_setErrorWithContext(status, getHALErrorMessage(status)); - LiveWindow::GetInstance()->AddSensor("AnalogChannel",channel, GetModuleNumber(), this); + LiveWindow::GetInstance()->AddSensor("AnalogInput",channel, GetModuleNumber(), this); HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel, GetModuleNumber() - 1); } /** - * Construct an analog channel on a specified module. - * + * Construct an analog input on a specified module. + * * @param moduleNumber The analog module (1 or 2). * @param channel The channel number to represent. */ -AnalogChannel::AnalogChannel(uint8_t moduleNumber, uint32_t channel) +AnalogInput::AnalogInput(uint8_t moduleNumber, uint32_t channel) { - InitChannel(moduleNumber, channel); + InitAnalogInput(moduleNumber, channel); } /** - * Construct an analog channel on the default module. - * + * Construct an analog input on the default module. + * * @param channel The channel number to represent. */ -AnalogChannel::AnalogChannel(uint32_t channel) +AnalogInput::AnalogInput(uint32_t channel) { - InitChannel(GetDefaultAnalogModule(), channel); + InitAnalogInput(GetDefaultAnalogModule(), channel); } /** * Channel destructor. */ -AnalogChannel::~AnalogChannel() +AnalogInput::~AnalogInput() { - channels->Free((m_module - 1) * kAnalogChannels + m_channel); + inputs->Free((m_module - 1) * kAnalogInputs + m_channel); } /** * Get the analog module that this channel is on. * @return A pointer to the AnalogModule that this channel is on. */ -AnalogModule *AnalogChannel::GetModule() +AnalogModule *AnalogInput::GetModule() { if (StatusIsFatal()) return NULL; return AnalogModule::GetInstance(m_module); @@ -101,7 +101,7 @@ AnalogModule *AnalogChannel::GetModule() * The units are in A/D converter codes. Use GetVoltage() to get the analog value in calibrated units. * @return A sample straight from this channel on the module. */ -int16_t AnalogChannel::GetValue() +int16_t AnalogInput::GetValue() { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -119,7 +119,7 @@ int16_t AnalogChannel::GetValue() * Use GetAverageVoltage() to get the analog value in calibrated units. * @return A sample from the oversample and average engine for this channel. */ -int32_t AnalogChannel::GetAverageValue() +int32_t AnalogInput::GetAverageValue() { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -133,7 +133,7 @@ int32_t AnalogChannel::GetAverageValue() * The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight() and GetOffset(). * @return A scaled sample straight from this channel on the module. */ -float AnalogChannel::GetVoltage() +float AnalogInput::GetVoltage() { if (StatusIsFatal()) return 0.0f; int32_t status = 0; @@ -149,7 +149,7 @@ float AnalogChannel::GetVoltage() * Using averaging will cause this value to be more stable, but it will update more slowly. * @return A scaled sample from the output of the oversample and average engine for this channel. */ -float AnalogChannel::GetAverageVoltage() +float AnalogInput::GetAverageVoltage() { if (StatusIsFatal()) return 0.0f; int32_t status = 0; @@ -162,12 +162,12 @@ float AnalogChannel::GetAverageVoltage() * Get the factory scaling least significant bit weight constant. * The least significant bit weight constant for the channel that was calibrated in * manufacturing and stored in an eeprom in the module. - * + * * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) - * + * * @return Least significant bit weight. */ -uint32_t AnalogChannel::GetLSBWeight() +uint32_t AnalogInput::GetLSBWeight() { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -180,12 +180,12 @@ uint32_t AnalogChannel::GetLSBWeight() * Get the factory scaling offset constant. * The offset constant for the channel that was calibrated in manufacturing and stored * in an eeprom in the module. - * + * * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) - * + * * @return Offset constant. */ -int32_t AnalogChannel::GetOffset() +int32_t AnalogInput::GetOffset() { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -198,7 +198,7 @@ int32_t AnalogChannel::GetOffset() * Get the channel number. * @return The channel number. */ -uint32_t AnalogChannel::GetChannel() +uint32_t AnalogInput::GetChannel() { if (StatusIsFatal()) return 0; return m_channel; @@ -208,7 +208,7 @@ uint32_t AnalogChannel::GetChannel() * Get the module number. * @return The module number. */ -uint8_t AnalogChannel::GetModuleNumber() +uint8_t AnalogInput::GetModuleNumber() { if (StatusIsFatal()) return 0; return m_module; @@ -219,10 +219,10 @@ uint8_t AnalogChannel::GetModuleNumber() * This sets the number of averaging bits. The actual number of averaged samples is 2**bits. * Use averaging to improve the stability of your measurement at the expense of sampling rate. * The averaging is done automatically in the FPGA. - * + * * @param bits Number of bits of averaging. */ -void AnalogChannel::SetAverageBits(uint32_t bits) +void AnalogInput::SetAverageBits(uint32_t bits) { if (StatusIsFatal()) return; int32_t status = 0; @@ -234,10 +234,10 @@ void AnalogChannel::SetAverageBits(uint32_t bits) * Get the number of averaging bits previously configured. * This gets the number of averaging bits from the FPGA. The actual number of averaged samples is 2**bits. * The averaging is done automatically in the FPGA. - * + * * @return Number of bits of averaging previously configured. */ -uint32_t AnalogChannel::GetAverageBits() +uint32_t AnalogInput::GetAverageBits() { int32_t status = 0; int32_t averageBits = getAnalogAverageBits(m_port, &status); @@ -250,10 +250,10 @@ uint32_t AnalogChannel::GetAverageBits() * This sets the number of oversample bits. The actual number of oversampled values is 2**bits. * Use oversampling to improve the resolution of your measurements at the expense of sampling rate. * The oversampling is done automatically in the FPGA. - * + * * @param bits Number of bits of oversampling. */ -void AnalogChannel::SetOversampleBits(uint32_t bits) +void AnalogInput::SetOversampleBits(uint32_t bits) { if (StatusIsFatal()) return; int32_t status = 0; @@ -265,10 +265,10 @@ void AnalogChannel::SetOversampleBits(uint32_t bits) * Get the number of oversample bits previously configured. * This gets the number of oversample bits from the FPGA. The actual number of oversampled values is * 2**bits. The oversampling is done automatically in the FPGA. - * + * * @return Number of bits of oversampling previously configured. */ -uint32_t AnalogChannel::GetOversampleBits() +uint32_t AnalogInput::GetOversampleBits() { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -279,10 +279,10 @@ uint32_t AnalogChannel::GetOversampleBits() /** * Is the channel attached to an accumulator. - * - * @return The analog channel is attached to an accumulator. + * + * @return The analog input is attached to an accumulator. */ -bool AnalogChannel::IsAccumulatorChannel() +bool AnalogInput::IsAccumulatorChannel() { if (StatusIsFatal()) return false; int32_t status = 0; @@ -294,7 +294,7 @@ bool AnalogChannel::IsAccumulatorChannel() /** * Initialize the accumulator. */ -void AnalogChannel::InitAccumulator() +void AnalogInput::InitAccumulator() { if (StatusIsFatal()) return; m_accumulatorOffset = 0; @@ -306,11 +306,11 @@ void AnalogChannel::InitAccumulator() /** * Set an inital value for the accumulator. - * + * * This will be added to all values returned to the user. * @param initialValue The value that the accumulator should start from when reset. */ -void AnalogChannel::SetAccumulatorInitialValue(int64_t initialValue) +void AnalogInput::SetAccumulatorInitialValue(int64_t initialValue) { if (StatusIsFatal()) return; m_accumulatorOffset = initialValue; @@ -319,7 +319,7 @@ void AnalogChannel::SetAccumulatorInitialValue(int64_t initialValue) /** * Resets the accumulator to the initial value. */ -void AnalogChannel::ResetAccumulator() +void AnalogInput::ResetAccumulator() { if (StatusIsFatal()) return; int32_t status = 0; @@ -329,15 +329,15 @@ void AnalogChannel::ResetAccumulator() /** * Set the center value of the accumulator. - * + * * The center value is subtracted from each A/D value before it is added to the accumulator. This * is used for the center value of devices like gyros and accelerometers to make integration work * and to take the device offset into account when integrating. - * + * * This center value is based on the output of the oversampled and averaged source from channel 1. * Because of this, any non-zero oversample bits will affect the size of the value for this field. */ -void AnalogChannel::SetAccumulatorCenter(int32_t center) +void AnalogInput::SetAccumulatorCenter(int32_t center) { if (StatusIsFatal()) return; int32_t status = 0; @@ -348,7 +348,7 @@ void AnalogChannel::SetAccumulatorCenter(int32_t center) /** * Set the accumulator's deadband. */ -void AnalogChannel::SetAccumulatorDeadband(int32_t deadband) +void AnalogInput::SetAccumulatorDeadband(int32_t deadband) { if (StatusIsFatal()) return; int32_t status = 0; @@ -358,13 +358,13 @@ void AnalogChannel::SetAccumulatorDeadband(int32_t deadband) /** * Read the accumulated value. - * + * * Read the value that has been accumulating on channel 1. * The accumulator is attached after the oversample and average engine. - * + * * @return The 64-bit value accumulated since the last Reset(). */ -int64_t AnalogChannel::GetAccumulatorValue() +int64_t AnalogInput::GetAccumulatorValue() { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -375,12 +375,12 @@ int64_t AnalogChannel::GetAccumulatorValue() /** * Read the number of accumulated values. - * + * * Read the count of the accumulated values since the accumulator was last Reset(). - * + * * @return The number of times samples from the channel were accumulated. */ -uint32_t AnalogChannel::GetAccumulatorCount() +uint32_t AnalogInput::GetAccumulatorCount() { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -392,14 +392,14 @@ uint32_t AnalogChannel::GetAccumulatorCount() /** * Read the accumulated value and the number of accumulated values atomically. - * + * * This function reads the value and count from the FPGA atomically. * This can be used for averaging. - * + * * @param value Pointer to the 64-bit accumulated output. * @param count Pointer to the number of accumulation cycles. */ -void AnalogChannel::GetAccumulatorOutput(int64_t *value, uint32_t *count) +void AnalogInput::GetAccumulatorOutput(int64_t *value, uint32_t *count) { if (StatusIsFatal()) return; int32_t status = 0; @@ -410,40 +410,38 @@ void AnalogChannel::GetAccumulatorOutput(int64_t *value, uint32_t *count) /** * Get the Average value for the PID Source base object. - * + * * @return The average voltage. */ -double AnalogChannel::PIDGet() +double AnalogInput::PIDGet() { if (StatusIsFatal()) return 0.0; return GetAverageValue(); } -void AnalogChannel::UpdateTable() { +void AnalogInput::UpdateTable() { if (m_table != NULL) { m_table->PutNumber("Value", GetAverageVoltage()); } } -void AnalogChannel::StartLiveWindowMode() { - +void AnalogInput::StartLiveWindowMode() { + } -void AnalogChannel::StopLiveWindowMode() { - +void AnalogInput::StopLiveWindowMode() { + } -std::string AnalogChannel::GetSmartDashboardType() { +std::string AnalogInput::GetSmartDashboardType() { return "Analog Input"; } -void AnalogChannel::InitTable(ITable *subTable) { +void AnalogInput::InitTable(ITable *subTable) { m_table = subTable; UpdateTable(); } -ITable * AnalogChannel::GetTable() { +ITable * AnalogInput::GetTable() { return m_table; } - - diff --git a/wpilibc/wpilibC++/lib/AnalogModule.cpp b/wpilibc/wpilibC++/lib/AnalogModule.cpp index 80ceeb47be..cd26c3a1a6 100644 --- a/wpilibc/wpilibC++/lib/AnalogModule.cpp +++ b/wpilibc/wpilibC++/lib/AnalogModule.cpp @@ -53,7 +53,7 @@ AnalogModule::AnalogModule(uint8_t moduleNumber) , m_moduleNumber(moduleNumber) , m_ports() { - for (uint32_t i = 0; i < kAnalogChannels; i++) + for (uint32_t i = 0; i < kAnalogInputs; i++) { void* port = getPortWithModule(moduleNumber, i); int32_t status = 0; diff --git a/wpilibc/wpilibC++/lib/AnalogOutput.cpp b/wpilibc/wpilibC++/lib/AnalogOutput.cpp new file mode 100644 index 0000000000..b5ec5fd9cb --- /dev/null +++ b/wpilibc/wpilibC++/lib/AnalogOutput.cpp @@ -0,0 +1,106 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) FIRST 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. */ +/*----------------------------------------------------------------------------*/ + +#include "AnalogOutput.h" +#include "Resource.h" +#include "WPIErrors.h" +#include "LiveWindow/LiveWindow.h" + +static Resource *outputs = NULL; + +void AnalogOutput::InitAnalogOutput(uint32_t channel) { + m_table = NULL; + + Resource::CreateResourceObject(&outputs, kAnalogOutputs); + + char buf[64]; + + if(!checkAnalogOutputChannel(channel)) + { + snprintf(buf, 64, "analog input %d", channel); + wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf); + return; + } + + if(outputs->Allocate(channel, buf) == ~0ul) + { + CloneError(outputs); + return; + } + + m_channel = channel; + + void* port = getPort(m_channel); + int32_t status = 0; + m_port = initializeAnalogOutputPort(port, &status); + wpi_setErrorWithContext(status, getHALErrorMessage(status)); + + LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, 1, this); + HALReport(HALUsageReporting::kResourceType_AnalogChannel, m_channel, 0); +} + +/** + * Construct an anlog output on the given channel + */ +AnalogOutput::AnalogOutput(uint32_t channel) { + InitAnalogOutput(channel); +} + +AnalogOutput::~AnalogOutput() { + outputs->Free(m_channel); +} + +/** + * Set the value of the analog output + * + * @param voltage The output value in Volts, from 0.0 to +5.0 + */ +void AnalogOutput::SetVoltage(float voltage) { + int32_t status = 0; + setAnalogOutput(m_port, voltage, &status); + + wpi_setErrorWithContext(status, getHALErrorMessage(status)); +} + +/** + * Get the voltage of the analog output + * + * @return The value in Volts, from 0.0 to +5.0 + */ +float AnalogOutput::GetVoltage() { + int32_t status = 0; + float voltage = getAnalogOutput(m_port, &status); + + wpi_setErrorWithContext(status, getHALErrorMessage(status)); + + return voltage; +} + +void AnalogOutput::UpdateTable() { + if (m_table != NULL) { + m_table->PutNumber("Value", GetVoltage()); + } +} + +void AnalogOutput::StartLiveWindowMode() { +} + +void AnalogOutput::StopLiveWindowMode() { +} + +std::string AnalogOutput::GetSmartDashboardType() { + return "Analog Output"; +} + +void AnalogOutput::InitTable(ITable *subTable) { + m_table = subTable; + UpdateTable(); +} + +ITable *AnalogOutput::GetTable() { + return m_table; +} diff --git a/wpilibc/wpilibC++/lib/AnalogTrigger.cpp b/wpilibc/wpilibC++/lib/AnalogTrigger.cpp index 86034d93d2..d2c161f1e2 100644 --- a/wpilibc/wpilibC++/lib/AnalogTrigger.cpp +++ b/wpilibc/wpilibC++/lib/AnalogTrigger.cpp @@ -6,7 +6,7 @@ #include "AnalogTrigger.h" -#include "AnalogChannel.h" +#include "AnalogInput.h" #include "AnalogModule.h" //#include "NetworkCommunication/UsageReporting.h" #include "Resource.h" @@ -55,7 +55,7 @@ AnalogTrigger::AnalogTrigger(uint8_t moduleNumber, uint32_t channel) * This should be used in the case of sharing an analog channel between the trigger * and an analog input object. */ -AnalogTrigger::AnalogTrigger(AnalogChannel *channel) +AnalogTrigger::AnalogTrigger(AnalogInput *channel) { InitTrigger(channel->GetModuleNumber(), channel->GetChannel()); } diff --git a/wpilibc/wpilibC++/lib/DriverStation.cpp b/wpilibc/wpilibC++/lib/DriverStation.cpp index f70d55d18b..80f151b87d 100644 --- a/wpilibc/wpilibC++/lib/DriverStation.cpp +++ b/wpilibc/wpilibC++/lib/DriverStation.cpp @@ -5,7 +5,7 @@ /*----------------------------------------------------------------------------*/ #include "DriverStation.h" -#include "AnalogChannel.h" +#include "AnalogInput.h" #include "HAL/cpp/Synchronized.hpp" #include "Timer.h" //#include "NetworkCommunication/FRCComm.h" @@ -93,7 +93,7 @@ DriverStation::DriverStation() m_controlData->analog4 = 0; m_controlData->dsDigitalIn = 0; - m_batteryChannel = new AnalogChannel(kBatteryModuleNumber, kBatteryChannel); + m_batteryChannel = new AnalogInput(kBatteryModuleNumber, kBatteryChannel); AddToSingletonList(); @@ -208,7 +208,7 @@ void DriverStation::SetData() } /** - * Read the battery voltage from the specified AnalogChannel. + * Read the battery voltage from the specified AnalogInput. * * This accessor assumes that the battery voltage is being measured * through the voltage divider on an analog breakout. diff --git a/wpilibc/wpilibC++/lib/Gyro.cpp b/wpilibc/wpilibC++/lib/Gyro.cpp index dd6d219726..d4a1428767 100644 --- a/wpilibc/wpilibC++/lib/Gyro.cpp +++ b/wpilibc/wpilibC++/lib/Gyro.cpp @@ -5,7 +5,7 @@ /*----------------------------------------------------------------------------*/ #include "Gyro.h" -#include "AnalogChannel.h" +#include "AnalogInput.h" #include "AnalogModule.h" //#include "NetworkCommunication/UsageReporting.h" #include "Timer.h" @@ -78,7 +78,7 @@ void Gyro::InitGyro() */ Gyro::Gyro(uint8_t moduleNumber, uint32_t channel) { - m_analog = new AnalogChannel(moduleNumber, channel); + m_analog = new AnalogInput(moduleNumber, channel); m_channelAllocated = true; InitGyro(); } @@ -92,7 +92,7 @@ Gyro::Gyro(uint8_t moduleNumber, uint32_t channel) */ Gyro::Gyro(uint32_t channel) { - m_analog = new AnalogChannel(channel); + m_analog = new AnalogInput(channel); m_channelAllocated = true; InitGyro(); } @@ -100,10 +100,10 @@ Gyro::Gyro(uint32_t channel) /** * Gyro constructor with a precreated analog channel object. * Use this constructor when the analog channel needs to be shared. There - * is no reference counting when an AnalogChannel is passed to the gyro. - * @param channel The AnalogChannel object that the gyro is connected to. + * is no reference counting when an AnalogInput is passed to the gyro. + * @param channel The AnalogInput object that the gyro is connected to. */ -Gyro::Gyro(AnalogChannel *channel) +Gyro::Gyro(AnalogInput *channel) { m_analog = channel; m_channelAllocated = false; @@ -117,7 +117,7 @@ Gyro::Gyro(AnalogChannel *channel) } } -Gyro::Gyro(AnalogChannel &channel) +Gyro::Gyro(AnalogInput &channel) { m_analog = &channel; m_channelAllocated = false; diff --git a/wpilibc/wpilibC++/lib/SensorBase.cpp b/wpilibc/wpilibC++/lib/SensorBase.cpp index ad22f1d872..2af63a99b7 100644 --- a/wpilibc/wpilibC++/lib/SensorBase.cpp +++ b/wpilibc/wpilibC++/lib/SensorBase.cpp @@ -10,7 +10,7 @@ #include "WPIErrors.h" const uint32_t SensorBase::kDigitalChannels; -const uint32_t SensorBase::kAnalogChannels; +const uint32_t SensorBase::kAnalogInputs; const uint32_t SensorBase::kAnalogModules; const uint32_t SensorBase::kDigitalModules; const uint32_t SensorBase::kSolenoidChannels; @@ -68,7 +68,7 @@ void SensorBase::DeleteSingletons() /** * Check that the analog module number is valid. - * + * * @return Analog module is valid and present */ bool SensorBase::CheckAnalogModule(uint8_t moduleNumber) @@ -80,7 +80,7 @@ bool SensorBase::CheckAnalogModule(uint8_t moduleNumber) /** * Check that the digital module number is valid. - * + * * @return Digital module is valid and present */ bool SensorBase::CheckDigitalModule(uint8_t moduleNumber) @@ -92,7 +92,7 @@ bool SensorBase::CheckDigitalModule(uint8_t moduleNumber) /** * Check that the digital module number is valid. - * + * * @return Digital module is valid and present */ bool SensorBase::CheckPWMModule(uint8_t moduleNumber) @@ -102,7 +102,7 @@ bool SensorBase::CheckPWMModule(uint8_t moduleNumber) /** * Check that the digital module number is valid. - * + * * @return Digital module is valid and present */ bool SensorBase::CheckRelayModule(uint8_t moduleNumber) @@ -112,7 +112,7 @@ bool SensorBase::CheckRelayModule(uint8_t moduleNumber) /** * Check that the solenoid module number is valid. - * + * * @return Solenoid module is valid and present */ bool SensorBase::CheckSolenoidModule(uint8_t moduleNumber) @@ -126,12 +126,12 @@ bool SensorBase::CheckSolenoidModule(uint8_t moduleNumber) * Check that the digital channel number is valid. * Verify that the channel number is one of the legal channel numbers. Channel numbers are * 1-based. - * + * * @return Digital channel is valid */ bool SensorBase::CheckDigitalChannel(uint32_t channel) { - if (channel >= 0 && channel < kDigitalChannels) + if (channel < kDigitalChannels) return true; return false; } @@ -140,12 +140,12 @@ bool SensorBase::CheckDigitalChannel(uint32_t channel) * Check that the digital channel number is valid. * Verify that the channel number is one of the legal channel numbers. Channel numbers are * 1-based. - * + * * @return Relay channel is valid */ bool SensorBase::CheckRelayChannel(uint32_t channel) { - if (channel >= 0 && channel < kRelayChannels) + if (channel < kRelayChannels) return true; return false; } @@ -154,33 +154,47 @@ bool SensorBase::CheckRelayChannel(uint32_t channel) * Check that the digital channel number is valid. * Verify that the channel number is one of the legal channel numbers. Channel numbers are * 1-based. - * + * * @return PWM channel is valid */ bool SensorBase::CheckPWMChannel(uint32_t channel) { - if (channel >= 0 && channel < kPwmChannels) + if (channel < kPwmChannels) return true; return false; } /** - * Check that the analog channel number is value. - * Verify that the analog channel number is one of the legal channel numbers. Channel numbers - * are 1-based. - * + * Check that the analog input number is value. + * Verify that the analog input number is one of the legal channel numbers. Channel numbers + * are 0-based. + * * @return Analog channel is valid */ -bool SensorBase::CheckAnalogChannel(uint32_t channel) +bool SensorBase::CheckAnalogInput(uint32_t channel) { - if (channel >= 0 && channel < kAnalogChannels) + if (channel < kAnalogInputs) return true; return false; } +/** + * Check that the analog output number is value. + * Verify that the analog output number is one of the legal channel numbers. Channel numbers + * are 0-based. + * + * @return Analog channel is valid + */ +bool SensorBase::CheckAnalogOutput(uint32_t channel) +{ + if (channel < kAnalogOutputs) + return true; + return false; +} + /** * Verify that the solenoid channel number is within limits. - * + * * @return Solenoid channel is valid */ bool SensorBase::CheckSolenoidChannel(uint32_t channel) @@ -192,7 +206,7 @@ bool SensorBase::CheckSolenoidChannel(uint32_t channel) /** * Verify that the power distribution channel number is within limits. - * + * * @return Solenoid channel is valid */ bool SensorBase::CheckPDPChannel(uint32_t channel) @@ -201,4 +215,3 @@ bool SensorBase::CheckPDPChannel(uint32_t channel) return true; return false; } - diff --git a/wpilibc/wpilibC++IntegrationTests/include/TestBench.h b/wpilibc/wpilibC++IntegrationTests/include/TestBench.h index defd80e31b..d977d355fe 100644 --- a/wpilibc/wpilibC++IntegrationTests/include/TestBench.h +++ b/wpilibc/wpilibC++IntegrationTests/include/TestBench.h @@ -11,9 +11,13 @@ class TestBench { public: - /* Analog channels */ + /* Analog input channels */ static const uint32_t kCameraGyroChannel = 0; static const uint32_t kFakeCompressorChannel = 1; + static const uint32_t kFakeAnalogOutputChannel = 2; + + /* Analog output channels */ + static const uint32_t kAnalogOutputChannel = 0; /* DIO channels */ static const uint32_t kTalonEncoderChannelA = 0; diff --git a/wpilibc/wpilibC++IntegrationTests/src/AnalogLoopTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/AnalogLoopTest.cpp new file mode 100644 index 0000000000..ed297ec4ff --- /dev/null +++ b/wpilibc/wpilibC++IntegrationTests/src/AnalogLoopTest.cpp @@ -0,0 +1,52 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) FIRST 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. */ +/*----------------------------------------------------------------------------*/ + +#include "WPILib.h" +#include "gtest/gtest.h" +#include "TestBench.h" + +static const double kDelayTime = 0.05; + +/** + * A fixture with an analog input and an analog output wired together + */ +class AnalogLoopTest : public testing::Test { +protected: + AnalogInput *m_input; + AnalogOutput *m_output; + + virtual void SetUp() { + m_input = new AnalogInput(TestBench::kFakeAnalogOutputChannel); + m_output = new AnalogOutput(TestBench::kAnalogOutputChannel); + } + + virtual void TearDown() { + delete m_input; + delete m_output; + } + + void Reset() { + m_output->SetVoltage(0.0f); + } +}; + +/** + * Test analog inputs and outputs by setting one and making sure the other + * matches. + */ +TEST_F(AnalogLoopTest, Loop) { + Reset(); + + // Set the output voltage and check if the input measures the same voltage + for(int i = 0; i < 50; i++) { + m_output->SetVoltage(i / 10.0f); + + Wait(kDelayTime); + + EXPECT_NEAR(m_output->GetVoltage(), m_input->GetVoltage(), 0.01f); + } +} diff --git a/wpilibc/wpilibC++IntegrationTests/src/PCMTest.cpp b/wpilibc/wpilibC++IntegrationTests/src/PCMTest.cpp index ddc86f60fa..e61450735a 100644 --- a/wpilibc/wpilibC++IntegrationTests/src/PCMTest.cpp +++ b/wpilibc/wpilibC++IntegrationTests/src/PCMTest.cpp @@ -26,7 +26,7 @@ protected: Compressor *m_compressor; DigitalOutput *m_fakePressureSwitch; - AnalogChannel *m_fakeCompressor; + AnalogInput *m_fakeCompressor; Solenoid *m_solenoid1, *m_solenoid2; DigitalInput *m_fakeSolenoid1, *m_fakeSolenoid2; @@ -35,7 +35,7 @@ protected: m_compressor = new Compressor(); m_fakePressureSwitch = new DigitalOutput(TestBench::kFakePressureSwitchChannel); - m_fakeCompressor = new AnalogChannel(TestBench::kFakeCompressorChannel); + m_fakeCompressor = new AnalogInput(TestBench::kFakeCompressorChannel); m_solenoid1 = new Solenoid(1); m_solenoid2 = new Solenoid(2); diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java index cbe5b27e78..39a5afb963 100644 --- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java +++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Accelerometer.java @@ -23,7 +23,7 @@ import edu.wpi.first.wpilibj.tables.ITable; */ public class Accelerometer extends SensorBase implements PIDSource, ISensor, LiveWindowSendable { - private AnalogChannel m_analogChannel; + private AnalogInput m_analogChannel; private double m_voltsPerG = 1.0; private double m_zeroGVoltage = 2.5; private boolean m_allocatedChannel; @@ -45,7 +45,7 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv */ public Accelerometer(final int channel) { m_allocatedChannel = true; - m_analogChannel = new AnalogChannel(channel); + m_analogChannel = new AnalogInput(channel); initAccelerometer(); } @@ -59,7 +59,7 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv */ public Accelerometer(final int slot, final int channel) { m_allocatedChannel = true; - m_analogChannel = new AnalogChannel(slot, channel); + m_analogChannel = new AnalogInput(slot, channel); initAccelerometer(); } @@ -70,7 +70,7 @@ public class Accelerometer extends SensorBase implements PIDSource, ISensor, Liv * the Accelerometer class. * @param channel an already initialized analog channel */ - public Accelerometer(AnalogChannel channel) { + public Accelerometer(AnalogInput channel) { m_allocatedChannel = false; if (channel == null) throw new NullPointerException("Analog Channel given was null"); diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogChannel.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java similarity index 95% rename from wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogChannel.java rename to wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java index 9eef10ddc0..e1515cbc98 100644 --- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogChannel.java +++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogInput.java @@ -26,10 +26,10 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException; /** * Analog channel class. - * + * * Each analog channel is read from hardware as a 12-bit number representing * -10V to 10V. - * + * * Connected to each analog channel is an averaging and oversampling engine. * This engine accumulates the specified ( by setAverageBits() and * setOversampleBits() ) number of samples before returning a new value. This is @@ -39,12 +39,12 @@ import edu.wpi.first.wpilibj.util.CheckedAllocationException; * are divided by the number of samples to retain the resolution, but get more * stable values. */ -public class AnalogChannel extends SensorBase implements PIDSource, +public class AnalogInput extends SensorBase implements PIDSource, LiveWindowSendable { private static final int kAccumulatorSlot = 1; private static Resource channels = new Resource(kAnalogModules - * kAnalogChannels); + * kAnalogInputChannels); private ByteBuffer m_port; private int m_moduleNumber, m_channel; private static final int[] kAccumulatorChannels = { 0, 1 }; @@ -52,39 +52,39 @@ public class AnalogChannel extends SensorBase implements PIDSource, /** * Construct an analog channel on the default module. - * + * * @param channel * The channel number to represent. */ - public AnalogChannel(final int channel) { + public AnalogInput(final int channel) { this(getDefaultAnalogModule(), channel); } /** * Construct an analog channel on a specified module. - * + * * @param moduleNumber * The digital module to use (1 or 2). * @param channel * The channel number to represent. */ - public AnalogChannel(final int moduleNumber, final int channel) { + public AnalogInput(final int moduleNumber, final int channel) { m_channel = channel; m_moduleNumber = moduleNumber; if (AnalogJNI.checkAnalogModule((byte)moduleNumber) == 0) { - throw new AllocationException("Analog channel " + m_channel + throw new AllocationException("Analog input channel " + m_channel + " on module " + m_moduleNumber + " cannot be allocated. Module is not present."); } if (AnalogJNI.checkAnalogInputChannel(channel) == 0) { - throw new AllocationException("Analog channel " + m_channel + throw new AllocationException("Analog input channel " + m_channel + " on module " + m_moduleNumber + " cannot be allocated. Channel is not present."); } try { - channels.allocate((moduleNumber - 1) * kAnalogChannels + channel); + channels.allocate((moduleNumber - 1) * kAnalogInputChannels + channel); } catch (CheckedAllocationException e) { - throw new AllocationException("Analog channel " + m_channel + throw new AllocationException("Analog input channel " + m_channel + " on module " + m_moduleNumber + " is already allocated"); } @@ -97,7 +97,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, m_port = AnalogJNI.initializeAnalogInputPort(port_pointer, status.asIntBuffer()); HALUtil.checkStatus(status.asIntBuffer()); - LiveWindow.addSensor("Analog", moduleNumber, channel, this); + LiveWindow.addSensor("AnalogInput", moduleNumber, channel, this); UsageReporting.report(tResourceType.kResourceType_AnalogChannel, channel, moduleNumber - 1); } @@ -106,7 +106,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, * Channel destructor. */ public void free() { - channels.free(((m_moduleNumber - 1) * kAnalogChannels + m_channel)); + channels.free(((m_moduleNumber - 1) * kAnalogInputChannels + m_channel)); m_channel = 0; m_moduleNumber = 0; m_accumulatorOffset = 0; @@ -114,7 +114,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, /** * Get the analog module that this channel is on. - * + * * @return The AnalogModule that this channel is on. */ public AnalogModule getModule() { @@ -126,7 +126,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, * 12-bit value representing the -10V to 10V range of the A/D converter in * the module. The units are in A/D converter codes. Use GetVoltage() to get * the analog value in calibrated units. - * + * * @return A sample straight from this channel on the module. */ public int getValue() { @@ -146,7 +146,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, * sliding window. The sample will not change until 2**(OversamplBits + * AverageBits) samples have been acquired from the module on this channel. * Use getAverageVoltage() to get the analog value in calibrated units. - * + * * @return A sample from the oversample and average engine for this channel. */ public int getAverageValue() { @@ -162,7 +162,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, * Get a scaled sample straight from this channel on the module. The value * is scaled to units of Volts using the calibrated scaling data from * getLSBWeight() and getOffset(). - * + * * @return A scaled sample straight from this channel on the module. */ public double getVoltage() { @@ -181,7 +181,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, * oversampling will cause this value to be higher resolution, but it will * update more slowly. Using averaging will cause this value to be more * stable, but it will update more slowly. - * + * * @return A scaled sample from the output of the oversample and average * engine for this channel. */ @@ -198,9 +198,9 @@ public class AnalogChannel extends SensorBase implements PIDSource, * Get the factory scaling least significant bit weight constant. The least * significant bit weight constant for the channel that was calibrated in * manufacturing and stored in an eeprom in the module. - * + * * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) - * + * * @return Least significant bit weight. */ public long getLSBWeight() { @@ -216,9 +216,9 @@ public class AnalogChannel extends SensorBase implements PIDSource, * Get the factory scaling offset constant. The offset constant for the * channel that was calibrated in manufacturing and stored in an eeprom in * the module. - * + * * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) - * + * * @return Offset constant. */ public int getOffset() { @@ -232,7 +232,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, /** * Get the channel number. - * + * * @return The channel number. */ public int getChannel() { @@ -241,7 +241,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, /** * Gets the number of the analog module this channel is on. - * + * * @return The module number of the analog module this channel is on. */ public int getModuleNumber() { @@ -252,7 +252,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, * Set the number of averaging bits. This sets the number of averaging bits. * The actual number of averaged samples is 2**bits. The averaging is done * automatically in the FPGA. - * + * * @param bits * The number of averaging bits. */ @@ -268,7 +268,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, * Get the number of averaging bits. This gets the number of averaging bits * from the FPGA. The actual number of averaged samples is 2**bits. The * averaging is done automatically in the FPGA. - * + * * @return The number of averaging bits. */ public int getAverageBits() { @@ -284,7 +284,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, * Set the number of oversample bits. This sets the number of oversample * bits. The actual number of oversampled values is 2**bits. The * oversampling is done automatically in the FPGA. - * + * * @param bits * The number of oversample bits. */ @@ -300,7 +300,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, * Get the number of oversample bits. This gets the number of oversample * bits from the FPGA. The actual number of oversampled values is 2**bits. * The oversampling is done automatically in the FPGA. - * + * * @return The number of oversample bits. */ public int getOversampleBits() { @@ -333,9 +333,9 @@ public class AnalogChannel extends SensorBase implements PIDSource, /** * Set an inital value for the accumulator. - * + * * This will be added to all values returned to the user. - * + * * @param initialValue * The value that the accumulator should start from when reset. */ @@ -356,12 +356,12 @@ public class AnalogChannel extends SensorBase implements PIDSource, /** * Set the center value of the accumulator. - * + * * The center value is subtracted from each A/D value before it is added to * the accumulator. This is used for the center value of devices like gyros * and accelerometers to make integration work and to take the device offset * into account when integrating. - * + * * This center value is based on the output of the oversampled and averaged * source from channel 1. Because of this, any non-zero oversample bits will * affect the size of the value for this field. @@ -387,10 +387,10 @@ public class AnalogChannel extends SensorBase implements PIDSource, /** * Read the accumulated value. - * + * * Read the value that has been accumulating on channel 1. The accumulator * is attached after the oversample and average engine. - * + * * @return The 64-bit value accumulated since the last Reset(). */ public long getAccumulatorValue() { @@ -404,10 +404,10 @@ public class AnalogChannel extends SensorBase implements PIDSource, /** * Read the number of accumulated values. - * + * * Read the count of the accumulated values since the accumulator was last * Reset(). - * + * * @return The number of times samples from the channel were accumulated. */ public long getAccumulatorCount() { @@ -422,10 +422,10 @@ public class AnalogChannel extends SensorBase implements PIDSource, /** * Read the accumulated value and the number of accumulated values * atomically. - * + * * This function reads the value and count from the FPGA atomically. This * can be used for averaging. - * + * * @param result * AccumulatorResult object to store the results in. */ @@ -455,7 +455,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, /** * Is the channel attached to an accumulator. - * + * * @return The analog channel is attached to an accumulator. */ public boolean isAccumulatorChannel() { @@ -482,7 +482,7 @@ public class AnalogChannel extends SensorBase implements PIDSource, /** * Get the average value for usee with PIDController - * + * * @return the average value */ public double pidGet() { diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogModule.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogModule.java index 7cbfebdc4d..edc1ab8900 100644 --- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogModule.java +++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogModule.java @@ -70,7 +70,7 @@ public class AnalogModule extends Module { super(tModuleType.kModuleType_Analog, moduleNumber); m_ports = new ByteBuffer[8]; - for (int i = 0; i < SensorBase.kAnalogChannels; i++) { + for (int i = 0; i < SensorBase.kAnalogInputChannels; i++) { ByteBuffer port_pointer = AnalogJNI.getPortWithModule((byte) moduleNumber, (byte) i); ByteBuffer status = ByteBuffer.allocateDirect(4); // set the byte order diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java new file mode 100644 index 0000000000..a548adf052 --- /dev/null +++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogOutput.java @@ -0,0 +1,140 @@ +/*----------------------------------------------------------------------------*/ +/* Copyright (c) FIRST 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 java.nio.ByteOrder; +import java.nio.IntBuffer; +import java.nio.LongBuffer; +import java.nio.ByteBuffer; + +//import com.sun.jna.Pointer; + + +import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tResourceType; +import edu.wpi.first.wpilibj.communication.UsageReporting; +import edu.wpi.first.wpilibj.hal.AnalogJNI; +import edu.wpi.first.wpilibj.hal.HALUtil; +import edu.wpi.first.wpilibj.livewindow.LiveWindow; +import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable; +import edu.wpi.first.wpilibj.tables.ITable; +import edu.wpi.first.wpilibj.util.AllocationException; +import edu.wpi.first.wpilibj.util.CheckedAllocationException; + +/** + * Analog output class. + */ +public class AnalogOutput extends SensorBase implements LiveWindowSendable { + private static Resource channels = new Resource(kAnalogOutputChannels); + private ByteBuffer m_port; + private int m_channel; + + /** + * Construct an analog output on a specified MXP channel. + * + * @param channel + * The channel number to represent. + */ + public AnalogOutput(final int channel) { + m_channel = channel; + + if (AnalogJNI.checkAnalogOutputChannel(channel) == 0) { + throw new AllocationException("Analog output channel " + m_channel + + " cannot be allocated. Channel is not present."); + } + try { + channels.allocate(channel); + } catch (CheckedAllocationException e) { + throw new AllocationException("Analog output channel " + m_channel + + " is already allocated"); + } + + ByteBuffer port_pointer = AnalogJNI.getPortWithModule((byte) 1, (byte) channel); + ByteBuffer status = ByteBuffer.allocateDirect(4); + // set the byte order + status.order(ByteOrder.LITTLE_ENDIAN); + m_port = AnalogJNI.initializeAnalogOutputPort(port_pointer, status.asIntBuffer()); + HALUtil.checkStatus(status.asIntBuffer()); + + LiveWindow.addSensor("AnalogOutput", 1, channel, this); + UsageReporting.report(tResourceType.kResourceType_AnalogChannel, channel, 1); + } + + /** + * Channel destructor. + */ + public void free() { + channels.free(m_channel); + m_channel = 0; + } + + public void setVoltage(double voltage) { + ByteBuffer status = ByteBuffer.allocateDirect(4); + status.order(ByteOrder.LITTLE_ENDIAN); + + AnalogJNI.setAnalogOutput(m_port, voltage, status.asIntBuffer()); + + HALUtil.checkStatus(status.asIntBuffer()); + } + + public double getVoltage() { + ByteBuffer status = ByteBuffer.allocateDirect(4); + status.order(ByteOrder.LITTLE_ENDIAN); + + double voltage = AnalogJNI.getAnalogOutput(m_port, status.asIntBuffer()); + + HALUtil.checkStatus(status.asIntBuffer()); + + return voltage; + } + + /* + * Live Window code, only does anything if live window is activated. + */ + public String getSmartDashboardType() { + return "Analog Output"; + } + + private ITable m_table; + + /** + * {@inheritDoc} + */ + public void initTable(ITable subtable) { + m_table = subtable; + updateTable(); + } + + /** + * {@inheritDoc} + */ + public void updateTable() { + if (m_table != null) { + m_table.putNumber("Value", getVoltage()); + } + } + + /** + * {@inheritDoc} + */ + public ITable getTable() { + return m_table; + } + + /** + * Analog Channels don't have to do anything special when entering the + * LiveWindow. {@inheritDoc} + */ + public void startLiveWindowMode() { + } + + /** + * Analog Channels don't have to do anything special when exiting the + * LiveWindow. {@inheritDoc} + */ + public void stopLiveWindowMode() { + } +} diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java index 77204381f8..8380fbdcf5 100644 --- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java +++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/AnalogTrigger.java @@ -106,7 +106,7 @@ public class AnalogTrigger implements IInputOutput { * @param channel * the AnalogChannel to use for the analog trigger */ - public AnalogTrigger(AnalogChannel channel) { + public AnalogTrigger(AnalogInput channel) { initTrigger(channel.getModuleNumber(), channel.getChannel()); } diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DriverStation.java index 5fc76078ce..34d7464329 100644 --- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DriverStation.java +++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/DriverStation.java @@ -86,7 +86,7 @@ public class DriverStation implements IInputOutput { private static DriverStation instance = new DriverStation(); private FRCCommonControlData m_controlData; - private AnalogChannel m_batteryChannel; + private AnalogInput m_batteryChannel; private Thread m_thread; private final Object m_semaphore; private final Object m_dataSem; diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Gyro.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Gyro.java index 82840ab7fb..09146da366 100644 --- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Gyro.java +++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/Gyro.java @@ -31,7 +31,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor, static final double kSamplesPerSecond = 50.0; static final double kCalibrationSampleTime = 5.0; static final double kDefaultVoltsPerDegreePerSecond = 0.007; - AnalogChannel m_analog; + AnalogInput m_analog; double m_voltsPerDegreePerSecond; double m_offset; int m_center; @@ -94,7 +94,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor, * The analog channel the gyro is connected to. */ public Gyro(int slot, int channel) { - m_analog = new AnalogChannel(slot, channel); + m_analog = new AnalogInput(slot, channel); m_channelAllocated = true; initGyro(); } @@ -108,7 +108,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor, * The analog channel the gyro is connected to. */ public Gyro(int channel) { - m_analog = new AnalogChannel(channel); + m_analog = new AnalogInput(channel); m_channelAllocated = true; initGyro(); } @@ -121,7 +121,7 @@ public class Gyro extends SensorBase implements PIDSource, ISensor, * @param channel * The AnalogChannel object that the gyro is connected to. */ - public Gyro(AnalogChannel channel) { + public Gyro(AnalogInput channel) { m_analog = channel; if (m_analog == null) { System.err diff --git a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SensorBase.java b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SensorBase.java index fb44ce35d8..76016293a7 100644 --- a/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SensorBase.java +++ b/wpilibj/wpilibJava/src/main/java/edu/wpi/first/wpilibj/SensorBase.java @@ -14,13 +14,13 @@ import edu.wpi.first.wpilibj.hal.AnalogJNI; * Base class for all sensors. * Stores most recent status information as well as containing utility functions for checking * channels and error processing. - * + * * XXX: Wait, there's no exception thrown if we try to allocate a non-existent module? It that behavior correct? */ public abstract class SensorBase { // TODO: Refactor // TODO: Move this to the HAL - + /** * Ticks per microsecond */ @@ -35,9 +35,13 @@ public abstract class SensorBase { // TODO: Refactor */ public static final int kDigitalModules = 1; /** - * Number of analog channels per module + * Number of analog input channels per module */ - public static final int kAnalogChannels = 4; + public static final int kAnalogInputChannels = 8; + /** + * Number of analog output channels per module + */ + public static final int kAnalogOutputChannels = 2; /** * Number of analog modules */ @@ -206,14 +210,27 @@ public abstract class SensorBase { // TODO: Refactor } /** - * Check that the analog channel number is value. - * Verify that the analog channel number is one of the legal channel numbers. Channel numbers - * are 1-based. + * Check that the analog input number is value. + * Verify that the analog input number is one of the legal channel numbers. Channel numbers + * are 0-based. * * @param channel The channel number to check. */ - protected static void checkAnalogChannel(final int channel) { - if (channel <= 0 || channel > kAnalogChannels) { + protected static void checkAnalogInputChannel(final int channel) { + if (channel <= 0 || channel > kAnalogInputChannels) { + System.err.println("Requested analog channel number is out of range."); + } + } + + /** + * Check that the analog input number is value. + * Verify that the analog input number is one of the legal channel numbers. Channel numbers + * are 0-based. + * + * @param channel The channel number to check. + */ + protected static void checkAnalogOutputChannel(final int channel) { + if (channel <= 0 || channel > kAnalogOutputChannels) { System.err.println("Requested analog channel number is out of range."); } } @@ -231,7 +248,7 @@ public abstract class SensorBase { // TODO: Refactor } /** - * Verify that the power distribution channel number is within limits. + * Verify that the power distribution channel number is within limits. * Channel numbers are 1-based. * * @param channel The channel number to check. diff --git a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java index aa6d70a7fc..5ecf2d1a31 100644 --- a/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java +++ b/wpilibj/wpilibJavaIntegrationTests/src/main/java/edu/wpi/first/wpilibj/test/TestBench.java @@ -30,9 +30,9 @@ import edu.wpi.first.wpilibj.fixtures.TiltPanCameraFixture; * This class provides access to all of the elements on the test bench, for use * in fixtures. This class is a singleton, you should use {@link #getInstance()} * to obtain a reference to the {@code TestBench}. - * + * * TODO: This needs to be updated to the most recent test bench setup. - * + * * @author Fredric Silberberg */ public final class TestBench { @@ -42,14 +42,14 @@ public final class TestBench { * completely stopped */ public static final double MOTOR_STOP_TIME = 0.20; - - + + //THESE MUST BE IN INCREMENTING ORDER public static final int DIOCrossConnectA1 = 6; public static final int DIOCrossConnectA2 = 7; public static final int DIOCrossConnectB1 = 8; public static final int DIOCrossConnectB2 = 9; - + /** The Singleton instance of the Test Bench */ private static TestBench instance = null; @@ -66,7 +66,7 @@ public final class TestBench { /** * Constructs a new set of objects representing a connected set of Talon * controlled Motors and an encoder - * + * * @return a freshly allocated Talon, Encoder pair */ public MotorEncoderFixture getTalonPair() { @@ -91,7 +91,7 @@ public final class TestBench { /** * Constructs a new set of objects representing a connected set of Victor * controlled Motors and an encoder - * + * * @return a freshly allocated Victor, Encoder pair */ public MotorEncoderFixture getVictorPair() { @@ -118,7 +118,7 @@ public final class TestBench { /** * Constructs a new set of objects representing a connected set of Jaguar * controlled Motors and an encoder - * + * * @return a freshly allocated Jaguar, Encoder pair */ public MotorEncoderFixture getJaguarPair() { @@ -146,7 +146,7 @@ public final class TestBench { * controlled Motors and an encoder
* Note: The CANJaguar is not freshly allocated because the CANJaguar lacks * a free() method - * + * * @return an existing CANJaguar and a freshly allocated Encoder */ public MotorEncoderFixture getCanJaguarPair() { @@ -179,7 +179,7 @@ public final class TestBench { /** * Constructs a new set of two Servo's and a Gyroscope. - * + * * @return a freshly allocated Servo's and a freshly allocated Gyroscope */ public TiltPanCameraFixture getTiltPanCam() { @@ -200,7 +200,7 @@ public final class TestBench { DIOCrossConnectFixture dio = new DIOCrossConnectFixture(inputPort, outputPort); return dio; } - + /** * Gets two lists of possible DIO pairs for the two pairs * @return @@ -212,7 +212,7 @@ public final class TestBench { { new Integer(DIOCrossConnectA2), new Integer(DIOCrossConnectA1) } }); pairs.add(setA); - + List setB = Arrays.asList(new Integer[][] { { new Integer(DIOCrossConnectB1), new Integer(DIOCrossConnectB2) }, { new Integer(DIOCrossConnectB2), new Integer(DIOCrossConnectB1) } @@ -233,7 +233,7 @@ public final class TestBench { } return pairs; } - + /** * Gets an array of pairs for the encoder to use using two different lists * @param listA @@ -254,7 +254,7 @@ public final class TestBench { inputs[3] = portPairsB[1]; // OutputB inputs [4] = flip? 0 : 1; // The flip bit } - + construtorInput.add(inputs); inputs = inputs.clone(); @@ -268,7 +268,7 @@ public final class TestBench { } return encoderPortPairs; } - + /** * Constructs the list of inputs to be used for the encoder test * @return A collection of different input pairs to use for the encoder @@ -286,7 +286,7 @@ public final class TestBench { * Gets the singleton of the TestBench. If the TestBench is not already * allocated in constructs an new instance of it. Otherwise it returns the * existing instance. - * + * * @return The Singleton instance of the TestBench */ public static TestBench getInstance() { diff --git a/wpilibj/wpilibJavaJNI/lib/AnalogJNI.cpp b/wpilibj/wpilibJavaJNI/lib/AnalogJNI.cpp index 2e68e74fe2..2a35786a90 100644 --- a/wpilibj/wpilibJavaJNI/lib/AnalogJNI.cpp +++ b/wpilibj/wpilibJavaJNI/lib/AnalogJNI.cpp @@ -103,7 +103,7 @@ JNIEXPORT void JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_setAnalogOutput { void ** javaId = (void**)env->GetDirectBufferAddress(id); jint * statusPtr = (jint*)env->GetDirectBufferAddress(status); - setAnalogOutput(javaId, voltage, statusPtr); + setAnalogOutput(*javaId, voltage, statusPtr); } /* @@ -116,7 +116,7 @@ JNIEXPORT jdouble JNICALL Java_edu_wpi_first_wpilibj_hal_AnalogJNI_getAnalogOutp { void ** javaId = (void**)env->GetDirectBufferAddress(id); jint * statusPtr = (jint*)env->GetDirectBufferAddress(status); - return getAnalogOutput(javaId, statusPtr); + return getAnalogOutput(*javaId, statusPtr); } /*