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Moves Encoders to Handles and Moves WPILib Encoders to HAL (#124)

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This commit is contained in:
Thad House
2016-07-03 15:22:22 -07:00
committed by Peter Johnson
parent b45e0917ae
commit 36ac37db8c
20 changed files with 1409 additions and 598 deletions
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74
hal/lib/athena/EncoderInternal.h Normal file
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/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. 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 <stdint.h>
#include "HAL/Encoder.h"
namespace hal {
class Encoder {
public:
Encoder(uint8_t port_a_module, uint32_t port_a_pin,
bool port_a_analog_trigger, uint8_t port_b_module,
uint32_t port_b_pin, bool port_b_analog_trigger,
bool reverseDirection, EncoderEncodingType encodingType,
int32_t* status);
~Encoder();
// CounterBase interface
int32_t Get(int32_t* status) const;
int32_t GetRaw(int32_t* status) const;
int32_t GetEncodingScale(int32_t* status) const;
void Reset(int32_t* status);
double GetPeriod(int32_t* status) const;
void SetMaxPeriod(double maxPeriod, int32_t* status);
bool GetStopped(int32_t* status) const;
bool GetDirection(int32_t* status) const;
double GetDistance(int32_t* status) const;
double GetRate(int32_t* status) const;
void SetMinRate(double minRate, int32_t* status);
void SetDistancePerPulse(double distancePerPulse, int32_t* status);
void SetReverseDirection(bool reverseDirection, int32_t* status);
void SetSamplesToAverage(int samplesToAverage, int32_t* status);
int32_t GetSamplesToAverage(int32_t* status) const;
void SetIndexSource(uint32_t pin, bool analogTrigger,
EncoderIndexingType type, int32_t* status);
int32_t GetFPGAIndex() const { return m_index; }
int32_t GetEncodingScale() const { return m_encodingScale; }
double DecodingScaleFactor() const;
double GetDistancePerPulse() const { return m_distancePerPulse; }
EncoderEncodingType GetEncodingType() const { return m_encodingType; }
private:
void SetupCounter(uint8_t port_a_module, uint32_t port_a_pin,
bool port_a_analog_trigger, uint8_t port_b_module,
uint32_t port_b_pin, bool port_b_analog_trigger,
bool reverseDirection, EncoderEncodingType encodingType,
int32_t* status);
HalFPGAEncoderHandle m_encoder = HAL_INVALID_HANDLE;
HalCounterHandle m_counter = HAL_INVALID_HANDLE;
int32_t m_index = 0;
double m_distancePerPulse = 1.0;
EncoderEncodingType m_encodingType;
int32_t m_encodingScale;
};
}