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Makes SensorBase checks use HAL check methods (#182)

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This commit is contained in:
Thad House
2016-07-20 22:47:29 -07:00
committed by Peter Johnson
parent 0901ae0808
commit 512ecf6490
24 changed files with 238 additions and 103 deletions
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54
wpilibc/athena/src/SensorBase.cpp
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@@ -11,23 +11,21 @@
#include "HAL/HAL.h"
#include "WPIErrors.h"
const uint32_t SensorBase::kDigitalChannels;
const uint32_t SensorBase::kAnalogInputs;
const uint32_t SensorBase::kSolenoidChannels;
const uint32_t SensorBase::kSolenoidModules;
const uint32_t SensorBase::kPwmChannels;
const uint32_t SensorBase::kRelayChannels;
const uint32_t SensorBase::kPDPChannels;
const uint32_t SensorBase::kChassisSlots;
const int SensorBase::kDigitalChannels = HAL_GetNumDigitalPins();
const int SensorBase::kAnalogInputs = HAL_GetNumAnalogInputs();
const int SensorBase::kSolenoidChannels = HAL_GetNumSolenoidPins();
const int SensorBase::kSolenoidModules = HAL_GetNumPCMModules();
const int SensorBase::kPwmChannels = HAL_GetNumPWMPins();
const int SensorBase::kRelayChannels = HAL_GetNumRelayHeaders();
const int SensorBase::kPDPChannels = HAL_GetNumPDPChannels();
/**
* Check that the solenoid module number is valid.
*
* @return Solenoid module is valid and present
*/
bool SensorBase::CheckSolenoidModule(uint8_t moduleNumber) {
if (moduleNumber < 64) return true;
return false;
bool SensorBase::CheckSolenoidModule(int moduleNumber) {
return HAL_CheckSolenoidModule(moduleNumber);
}
/**
@@ -38,9 +36,8 @@ bool SensorBase::CheckSolenoidModule(uint8_t moduleNumber) {
*
* @return Digital channel is valid
*/
bool SensorBase::CheckDigitalChannel(uint32_t channel) {
if (channel < kDigitalChannels) return true;
return false;
bool SensorBase::CheckDigitalChannel(int channel) {
return HAL_CheckDIOChannel(channel);
}
/**
@@ -51,8 +48,8 @@ bool SensorBase::CheckDigitalChannel(uint32_t channel) {
*
* @return Relay channel is valid
*/
bool SensorBase::CheckRelayChannel(uint32_t channel) {
return HAL_CheckRelayChannel((uint8_t)channel);
bool SensorBase::CheckRelayChannel(int channel) {
return HAL_CheckRelayChannel(channel);
}
/**
@@ -63,9 +60,8 @@ bool SensorBase::CheckRelayChannel(uint32_t channel) {
*
* @return PWM channel is valid
*/
bool SensorBase::CheckPWMChannel(uint32_t channel) {
if (channel < kPwmChannels) return true;
return false;
bool SensorBase::CheckPWMChannel(int channel) {
return HAL_CheckPWMChannel(channel);
}
/**
@@ -76,9 +72,8 @@ bool SensorBase::CheckPWMChannel(uint32_t channel) {
*
* @return Analog channel is valid
*/
bool SensorBase::CheckAnalogInput(uint32_t channel) {
if (channel < kAnalogInputs) return true;
return false;
bool SensorBase::CheckAnalogInput(int channel) {
return HAL_CheckAnalogInputChannel(channel);
}
/**
@@ -89,9 +84,8 @@ bool SensorBase::CheckAnalogInput(uint32_t channel) {
*
* @return Analog channel is valid
*/
bool SensorBase::CheckAnalogOutput(uint32_t channel) {
if (channel < kAnalogOutputs) return true;
return false;
bool SensorBase::CheckAnalogOutput(int channel) {
return HAL_CheckAnalogOutputChannel(channel);
}
/**
@@ -99,9 +93,8 @@ bool SensorBase::CheckAnalogOutput(uint32_t channel) {
*
* @return Solenoid channel is valid
*/
bool SensorBase::CheckSolenoidChannel(uint32_t channel) {
if (channel < kSolenoidChannels) return true;
return false;
bool SensorBase::CheckSolenoidChannel(int channel) {
return HAL_CheckSolenoidChannel(channel);
}
/**
@@ -109,7 +102,6 @@ bool SensorBase::CheckSolenoidChannel(uint32_t channel) {
*
* @return PDP channel is valid
*/
bool SensorBase::CheckPDPChannel(uint32_t channel) {
if (channel < kPDPChannels) return true;
return false;
bool SensorBase::CheckPDPChannel(int channel) {
return HAL_CheckPDPModule(channel);
}