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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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14
wpilibc/athena/include/Encoder.h
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@@ -11,6 +11,7 @@
#include "Counter.h"
#include "CounterBase.h"
#include "HAL/Encoder.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "PIDSource.h"
#include "SensorBase.h"
@@ -88,21 +89,16 @@ class Encoder : public SensorBase,
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
int32_t GetFPGAIndex() const { return m_index; }
int32_t GetFPGAIndex() const;
private:
void InitEncoder(bool _reverseDirection, EncodingType encodingType);
void InitEncoder(bool reverseDirection, EncodingType encodingType);
double DecodingScaleFactor() const;
std::shared_ptr<DigitalSource> m_aSource; // the A phase of the quad encoder
std::shared_ptr<DigitalSource> m_bSource; // the B phase of the quad encoder
void* m_encoder = nullptr;
int32_t m_index = 0; // The encoder's FPGA index.
double m_distancePerPulse = 1.0; // distance of travel for each encoder tick
std::unique_ptr<Counter> m_counter =
nullptr; // Counter object for 1x and 2x encoding
EncodingType m_encodingType; // Encoding type
int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
HalEncoderHandle m_encoder = HAL_INVALID_HANDLE;
std::shared_ptr<ITable> m_table;
friend class DigitalGlitchFilter;