Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-07-04 03:11:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

43
hal/lib/athena/FPGAEncoder.h Normal file
View File

@@ -0,0 +1,43 @@
/*----------------------------------------------------------------------------*/
/* 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/Handles.h"
extern "C" {
HalFPGAEncoderHandle initializeFPGAEncoder(
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, int32_t* index,
int32_t* status); // TODO: fix routing
void freeFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status);
void resetFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle,
int32_t* status);
int32_t getFPGAEncoder(HalFPGAEncoderHandle fpga_encoder_handle,
int32_t* status); // Raw value
double getFPGAEncoderPeriod(HalFPGAEncoderHandle fpga_encoder_handle,
int32_t* status);
void setFPGAEncoderMaxPeriod(HalFPGAEncoderHandle fpga_encoder_handle,
double maxPeriod, int32_t* status);
bool getFPGAEncoderStopped(HalFPGAEncoderHandle fpga_encoder_handle,
int32_t* status);
bool getFPGAEncoderDirection(HalFPGAEncoderHandle fpga_encoder_handle,
int32_t* status);
void setFPGAEncoderReverseDirection(HalFPGAEncoderHandle fpga_encoder_handle,
bool reverseDirection, int32_t* status);
void setFPGAEncoderSamplesToAverage(HalFPGAEncoderHandle fpga_encoder_handle,
uint32_t samplesToAverage, int32_t* status);
uint32_t getFPGAEncoderSamplesToAverage(
HalFPGAEncoderHandle fpga_encoder_handle, int32_t* status);
void setFPGAEncoderIndexSource(HalFPGAEncoderHandle fpga_encoder_handle,
uint32_t pin, bool analogTrigger,
bool activeHigh, bool edgeSensitive,
int32_t* status);
}