Changed AnalogChannel to AnalogInput, added AnalogOutput for MXP

Change-Id: I863d89c61ff2cf4a7a3aeeca1296978e728758b6

wpilibc/wpilibC++/include/AnalogInput.h

@@ -0,0 +1,81 @@
+/*----------------------------------------------------------------------------*/
+/* 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.  */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "HAL/HAL.hpp"
+#include "SensorBase.h"
+#include "PIDSource.h"
+#include "LiveWindow/LiveWindowSendable.h"
+
+class AnalogModule;
+
+/**
+ * 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
+ * value.  This is not a sliding window average.  The only difference between the oversampled samples and
+ * the averaged samples is that the oversampled samples are simply accumulated effectively increasing the
+ * resolution, while the averaged samples are divided by the number of samples to retain the resolution,
+ * but get more stable values.
+ */
+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];
+
+	AnalogInput(uint8_t moduleNumber, uint32_t channel);
+	explicit AnalogInput(uint32_t channel);
+	virtual ~AnalogInput();
+
+	AnalogModule *GetModule();
+
+	int16_t GetValue();
+	int32_t GetAverageValue();
+
+	float GetVoltage();
+	float GetAverageVoltage();
+
+	uint8_t GetModuleNumber();
+	uint32_t GetChannel();
+
+	void SetAverageBits(uint32_t bits);
+	uint32_t GetAverageBits();
+	void SetOversampleBits(uint32_t bits);
+	uint32_t GetOversampleBits();
+
+	uint32_t GetLSBWeight();
+	int32_t GetOffset();
+
+	bool IsAccumulatorChannel();
+	void InitAccumulator();
+	void SetAccumulatorInitialValue(int64_t value);
+	void ResetAccumulator();
+	void SetAccumulatorCenter(int32_t center);
+	void SetAccumulatorDeadband(int32_t deadband);
+	int64_t GetAccumulatorValue();
+	uint32_t GetAccumulatorCount();
+	void GetAccumulatorOutput(int64_t *value, uint32_t *count);
+
+	double PIDGet();
+
+	void UpdateTable();
+	void StartLiveWindowMode();
+	void StopLiveWindowMode();
+	std::string GetSmartDashboardType();
+	void InitTable(ITable *subTable);
+	ITable * GetTable();
+
+private:
+	void InitAnalogInput(uint8_t moduleNumber, uint32_t channel);
+	uint32_t m_channel, m_module;
+	void* m_port;
+	int64_t m_accumulatorOffset;
+
+	ITable *m_table;
+};