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Removed analog and digital module numbers

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AnalogModule and DigitalModule classes still exist, at least until they are
refactored into the classes that use them.

Change-Id: I5544d5418822f19d54ba0a5d651e64fad8b7b10d
This commit is contained in:
thomasclark
2014-06-13 17:45:10 -04:00
parent aa3b24092a
commit 58021f7397
90 changed files with 852 additions and 1988 deletions
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71
wpilibc/wpilibC++/lib/Encoder.cpp
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@@ -63,40 +63,12 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType)
m_pidSource = kDistance;
HALReport(HALUsageReporting::kResourceType_Encoder, index, encodingType);
LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetModuleForRouting(), m_aSource->GetChannelForRouting(), this);
LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannelForRouting(), this);
}
/**
* Encoder constructor.
* Construct a Encoder given a and b modules and channels fully specified.
* @param aModuleNumber The a channel digital input module.
* @param aChannel The a channel digital input channel.
* @param bModuleNumber The b channel digital input module.
* @param bChannel The b channel digital input channel.
* @param reverseDirection represents the orientation of the encoder and inverts the output values
* if necessary so forward represents positive values.
* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
* selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
* spec'd value since all rising and falling edges are counted. If 1X or 2X are selected then
* a counter object will be used and the returned value will either exactly match the spec'd count
* or be double (2x) the spec'd count.
*/
Encoder::Encoder(uint8_t aModuleNumber, uint32_t aChannel,
uint8_t bModuleNumber, uint32_t bChannel,
bool reverseDirection, EncodingType encodingType) :
m_encoder(NULL),
m_counter(NULL)
{
m_aSource = new DigitalInput(aModuleNumber, aChannel);
m_bSource = new DigitalInput(bModuleNumber, bChannel);
InitEncoder(reverseDirection, encodingType);
m_allocatedASource = true;
m_allocatedBSource = true;
}
/**
* Encoder constructor.
* Construct a Encoder given a and b channels assuming the default module.
* Construct a Encoder given a and b channels.
* @param aChannel The a channel digital input channel.
* @param bChannel The b channel digital input channel.
* @param reverseDirection represents the orientation of the encoder and inverts the output values
@@ -251,7 +223,7 @@ int32_t Encoder::GetRaw()
* Gets the current count.
* Returns the current count on the Encoder.
* This method compensates for the decoding type.
*
*
* @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
*/
int32_t Encoder::Get()
@@ -281,7 +253,7 @@ void Encoder::Reset()
* Returns the period of the most recent pulse.
* Returns the period of the most recent Encoder pulse in seconds.
* This method compenstates for the decoding type.
*
*
* @deprecated Use GetRate() in favor of this method. This returns unscaled periods and GetRate() scales using value from SetDistancePerPulse().
*
* @return Period in seconds of the most recent pulse.
@@ -309,9 +281,9 @@ double Encoder::GetPeriod()
* that the attached device is stopped. This timeout allows users to determine if the wheels or
* other shaft has stopped rotating.
* This method compensates for the decoding type.
*
*
* @deprecated Use SetMinRate() in favor of this method. This takes unscaled periods and SetMinRate() scales using value from SetDistancePerPulse().
*
*
* @param maxPeriod The maximum time between rising and falling edges before the FPGA will
* report the device stopped. This is expressed in seconds.
*/
@@ -389,12 +361,12 @@ double Encoder::DecodingScaleFactor()
return 0.25;
default:
return 0.0;
}
}
}
/**
* Get the distance the robot has driven since the last reset.
*
*
* @return The distance driven since the last reset as scaled by the value from SetDistancePerPulse().
*/
double Encoder::GetDistance()
@@ -406,7 +378,7 @@ double Encoder::GetDistance()
/**
* Get the current rate of the encoder.
* Units are distance per second as scaled by the value from SetDistancePerPulse().
*
*
* @return The current rate of the encoder.
*/
double Encoder::GetRate()
@@ -417,7 +389,7 @@ double Encoder::GetRate()
/**
* Set the minimum rate of the device before the hardware reports it stopped.
*
*
* @param minRate The minimum rate. The units are in distance per second as scaled by the value from SetDistancePerPulse().
*/
void Encoder::SetMinRate(double minRate)
@@ -434,7 +406,7 @@ void Encoder::SetMinRate(double minRate)
* Set this value based on the encoder's rated Pulses per Revolution and
* factor in gearing reductions following the encoder shaft.
* This distance can be in any units you like, linear or angular.
*
*
* @param distancePerPulse The scale factor that will be used to convert pulses to useful units.
*/
void Encoder::SetDistancePerPulse(double distancePerPulse)
@@ -464,10 +436,10 @@ void Encoder::SetReverseDirection(bool reverseDirection)
}
}
/**
* Set the Samples to Average which specifies the number of samples of the timer to
* average when calculating the period. Perform averaging to account for
* Set the Samples to Average which specifies the number of samples of the timer to
* average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @param samplesToAverage The number of samples to average from 1 to 127.
*/
@@ -489,10 +461,10 @@ void Encoder::SetSamplesToAverage(int samplesToAverage)
break;
}
}
/**
* Get the Samples to Average which specifies the number of samples of the timer to
* average when calculating the period. Perform averaging to account for
* Get the Samples to Average which specifies the number of samples of the timer to
* average when calculating the period. Perform averaging to account for
* mechanical imperfections or as oversampling to increase resolution.
* @return SamplesToAverage The number of samples being averaged (from 1 to 127)
*/
@@ -517,7 +489,7 @@ int Encoder::GetSamplesToAverage()
/**
* Set which parameter of the encoder you are using as a process control variable.
*
*
* @param pidSource An enum to select the parameter.
*/
void Encoder::SetPIDSourceParameter(PIDSourceParameter pidSource)
@@ -528,7 +500,7 @@ void Encoder::SetPIDSourceParameter(PIDSourceParameter pidSource)
/**
* Implement the PIDSource interface.
*
*
* @return The current value of the selected source parameter.
*/
double Encoder::PIDGet()
@@ -554,11 +526,11 @@ void Encoder::UpdateTable() {
}
void Encoder::StartLiveWindowMode() {
}
void Encoder::StopLiveWindowMode() {
}
std::string Encoder::GetSmartDashboardType() {
@@ -576,4 +548,3 @@ void Encoder::InitTable(ITable *subTable) {
ITable * Encoder::GetTable() {
return m_table;
}