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Changes DigitalSource API for HAL ease of use (#144)

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This commit is contained in:
Thad House
2016-07-07 21:43:55 -07:00
committed by Peter Johnson
parent 7597e3c274
commit 4a3e3a6324
38 changed files with 398 additions and 336 deletions
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27
wpilibc/athena/src/Encoder.cpp
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@@ -31,18 +31,18 @@
*/
void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
int32_t status = 0;
m_encoder = initializeEncoder(
m_aSource->GetModuleForRouting(), m_aSource->GetChannelForRouting(),
m_aSource->GetAnalogTriggerForRouting(), m_bSource->GetModuleForRouting(),
m_bSource->GetChannelForRouting(),
m_bSource->GetAnalogTriggerForRouting(), reverseDirection,
(EncoderEncodingType)encodingType, &status);
m_encoder = initializeEncoder(m_aSource->GetPortHandleForRouting(),
m_aSource->GetAnalogTriggerTypeForRouting(),
m_bSource->GetPortHandleForRouting(),
m_bSource->GetAnalogTriggerTypeForRouting(),
reverseDirection,
(EncoderEncodingType)encodingType, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
HALReport(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(),
encodingType);
LiveWindow::GetInstance()->AddSensor("Encoder",
m_aSource->GetChannelForRouting(), this);
LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannel(),
this);
}
/**
@@ -447,10 +447,9 @@ double Encoder::PIDGet() {
* @param type The state that will cause the encoder to reset
*/
void Encoder::SetIndexSource(uint32_t channel, Encoder::IndexingType type) {
int32_t status = 0;
setEncoderIndexSource(m_encoder, channel, false, (EncoderIndexingType)type,
&status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
// Force digital input if just given an index
m_indexSource = std::make_unique<DigitalInput>(channel);
SetIndexSource(m_indexSource.get(), type);
}
/**
@@ -478,8 +477,8 @@ void Encoder::SetIndexSource(DigitalSource* source,
void Encoder::SetIndexSource(const DigitalSource& source,
Encoder::IndexingType type) {
int32_t status = 0;
setEncoderIndexSource(m_encoder, source.GetChannelForRouting(),
source.GetAnalogTriggerForRouting(),
setEncoderIndexSource(m_encoder, source.GetPortHandleForRouting(),
source.GetAnalogTriggerTypeForRouting(),
(EncoderIndexingType)type, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}