diff --git a/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp b/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp index 26e519d03b..ebc52c7ef2 100644 --- a/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp +++ b/cameraserver/src/main/native/cpp/vision/VisionRunner.cpp @@ -15,12 +15,6 @@ using namespace frc; -/** - * Creates a new vision runner. It will take images from the {@code - * videoSource}, and call the virtual DoProcess() method. - * - * @param videoSource the video source to use to supply images for the pipeline - */ VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource) : m_image(std::make_unique()), m_cvSink("VisionRunner CvSink"), @@ -31,19 +25,6 @@ VisionRunnerBase::VisionRunnerBase(cs::VideoSource videoSource) // Located here and not in header due to cv::Mat forward declaration. VisionRunnerBase::~VisionRunnerBase() {} -/** - * Runs the pipeline one time, giving it the next image from the video source - * specified in the constructor. This will block until the source either has an - * image or throws an error. If the source successfully supplied a frame, the - * pipeline's image input will be set, the pipeline will run, and the listener - * specified in the constructor will be called to notify it that the pipeline - * ran. This must be run in a dedicated thread, and cannot be used in the main - * robot thread because it will freeze the robot program. - * - *

This method is exposed to allow teams to add additional functionality or - * have their own ways to run the pipeline. Most teams, however, should just - * use {@link #runForever} in its own thread using a std::thread.

- */ void VisionRunnerBase::RunOnce() { auto csShared = frc::GetCameraServerShared(); auto res = csShared->GetRobotMainThreadId(); @@ -61,13 +42,6 @@ void VisionRunnerBase::RunOnce() { } } -/** - * A convenience method that calls {@link #runOnce()} in an infinite loop. This - * must be run in a dedicated thread, and cannot be used in the main robot - * thread because it will freeze the robot program. - * - * Do not call this method directly from the main thread. - */ void VisionRunnerBase::RunForever() { auto csShared = frc::GetCameraServerShared(); auto res = csShared->GetRobotMainThreadId(); @@ -82,7 +56,4 @@ void VisionRunnerBase::RunForever() { } } -/** - * Stop a RunForever() loop. - */ void VisionRunnerBase::Stop() { m_enabled = false; } diff --git a/cameraserver/src/main/native/include/vision/VisionRunner.h b/cameraserver/src/main/native/include/vision/VisionRunner.h index 4f5683a79c..a317f80876 100644 --- a/cameraserver/src/main/native/include/vision/VisionRunner.h +++ b/cameraserver/src/main/native/include/vision/VisionRunner.h @@ -21,16 +21,47 @@ namespace frc { */ class VisionRunnerBase { public: + /** + * Creates a new vision runner. It will take images from the {@code + * videoSource}, and call the virtual DoProcess() method. + * + * @param videoSource the video source to use to supply images for the + * pipeline + */ explicit VisionRunnerBase(cs::VideoSource videoSource); + ~VisionRunnerBase(); VisionRunnerBase(const VisionRunnerBase&) = delete; VisionRunnerBase& operator=(const VisionRunnerBase&) = delete; + /** + * Runs the pipeline one time, giving it the next image from the video source + * specified in the constructor. This will block until the source either has + * an image or throws an error. If the source successfully supplied a frame, + * the pipeline's image input will be set, the pipeline will run, and the + * listener specified in the constructor will be called to notify it that the + * pipeline ran. This must be run in a dedicated thread, and cannot be used in + * the main robot thread because it will freeze the robot program. + * + *

This method is exposed to allow teams to add additional functionality or + * have their own ways to run the pipeline. Most teams, however, should just + * use {@link #runForever} in its own thread using a std::thread.

+ */ void RunOnce(); + /** + * A convenience method that calls {@link #runOnce()} in an infinite loop. + * This must be run in a dedicated thread, and cannot be used in the main + * robot thread because it will freeze the robot program. + * + * Do not call this method directly from the main thread. + */ void RunForever(); + /** + * Stop a RunForever() loop. + */ void Stop(); protected: diff --git a/hal/src/main/native/athena/Accelerometer.cpp b/hal/src/main/native/athena/Accelerometer.cpp index 14404613de..8b47680a97 100644 --- a/hal/src/main/native/athena/Accelerometer.cpp +++ b/hal/src/main/native/athena/Accelerometer.cpp @@ -198,10 +198,6 @@ static double unpackAxis(int16_t raw) { extern "C" { -/** - * Set the accelerometer to active or standby mode. It must be in standby - * mode to change any configuration. - */ void HAL_SetAccelerometerActive(HAL_Bool active) { initializeAccelerometer(); @@ -210,10 +206,6 @@ void HAL_SetAccelerometerActive(HAL_Bool active) { writeRegister(kReg_CtrlReg1, ctrlReg1 | (active ? 1 : 0)); } -/** - * Set the range of values that can be measured (either 2, 4, or 8 g-forces). - * The accelerometer should be in standby mode when this is called. - */ void HAL_SetAccelerometerRange(HAL_AccelerometerRange range) { initializeAccelerometer(); @@ -224,11 +216,6 @@ void HAL_SetAccelerometerRange(HAL_AccelerometerRange range) { writeRegister(kReg_XYZDataCfg, xyzDataCfg | range); } -/** - * Get the x-axis acceleration - * - * This is a floating point value in units of 1 g-force - */ double HAL_GetAccelerometerX(void) { initializeAccelerometer(); @@ -237,11 +224,6 @@ double HAL_GetAccelerometerX(void) { return unpackAxis(raw); } -/** - * Get the y-axis acceleration - * - * This is a floating point value in units of 1 g-force - */ double HAL_GetAccelerometerY(void) { initializeAccelerometer(); @@ -250,11 +232,6 @@ double HAL_GetAccelerometerY(void) { return unpackAxis(raw); } -/** - * Get the z-axis acceleration - * - * This is a floating point value in units of 1 g-force - */ double HAL_GetAccelerometerZ(void) { initializeAccelerometer(); diff --git a/hal/src/main/native/athena/AnalogAccumulator.cpp b/hal/src/main/native/athena/AnalogAccumulator.cpp index fe017e5f29..1560371abe 100644 --- a/hal/src/main/native/athena/AnalogAccumulator.cpp +++ b/hal/src/main/native/athena/AnalogAccumulator.cpp @@ -20,12 +20,6 @@ void InitializeAnalogAccumulator() {} extern "C" { -/** - * Is the channel attached to an accumulator. - * - * @param analogPortHandle Handle to the analog port. - * @return The analog channel is attached to an accumulator. - */ HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -39,11 +33,6 @@ HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle, return false; } -/** - * Initialize the accumulator. - * - * @param analogPortHandle Handle to the analog port. - */ void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { if (!HAL_IsAccumulatorChannel(analogPortHandle, status)) { @@ -54,11 +43,6 @@ void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle, HAL_ResetAccumulator(analogPortHandle, status); } -/** - * Resets the accumulator to the initial value. - * - * @param analogPortHandle Handle to the analog port. - */ void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -73,21 +57,6 @@ void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle, port->accumulator->strobeReset(status); } -/** - * Set the center value of the accumulator. - * - * The center value is subtracted from each A/D value before it is added to the - * accumulator. This is used for the center value of devices like gyros and - * accelerometers to make integration work and to take the device offset into - * account when integrating. - * - * This center value is based on the output of the oversampled and averaged - * source from channel 1. Because of this, any non-zero oversample bits will - * affect the size of the value for this field. - * - * @param analogPortHandle Handle to the analog port. - * @param center The center value of the accumulator. - */ void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle, int32_t center, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -102,12 +71,6 @@ void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle, port->accumulator->writeCenter(center, status); } -/** - * Set the accumulator's deadband. - * - * @param analogPortHandle Handle to the analog port. - * @param deadband The deadband of the accumulator. - */ void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle, int32_t deadband, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -122,15 +85,6 @@ void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle, port->accumulator->writeDeadband(deadband, status); } -/** - * Read the accumulated value. - * - * Read the value that has been accumulating on channel 1. - * The accumulator is attached after the oversample and average engine. - * - * @param analogPortHandle Handle to the analog port. - * @return The 64-bit value accumulated since the last Reset(). - */ int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -146,15 +100,6 @@ int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle, return value; } -/** - * Read the number of accumulated values. - * - * Read the count of the accumulated values since the accumulator was last - * Reset(). - * - * @param analogPortHandle Handle to the analog port. - * @return The number of times samples from the channel were accumulated. - */ int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -169,16 +114,6 @@ int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle, return port->accumulator->readOutput_Count(status); } -/** - * Read the accumulated value and the number of accumulated values atomically. - * - * This function reads the value and count from the FPGA atomically. - * This can be used for averaging. - * - * @param analogPortHandle Handle to the analog port. - * @param value Pointer to the 64-bit accumulated output. - * @param count Pointer to the number of accumulation cycles. - */ void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analogPortHandle, int64_t* value, int64_t* count, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); diff --git a/hal/src/main/native/athena/AnalogInput.cpp b/hal/src/main/native/athena/AnalogInput.cpp index cc3700502a..3012ed152f 100644 --- a/hal/src/main/native/athena/AnalogInput.cpp +++ b/hal/src/main/native/athena/AnalogInput.cpp @@ -27,11 +27,6 @@ using namespace hal; extern "C" { -/** - * Initialize the analog input port using the given port object. - * - * @param portHandle Handle to the port to initialize. - */ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle, int32_t* status) { hal::init::CheckInit(); @@ -70,41 +65,17 @@ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle, return handle; } -/** - * @param analogPortHandle Handle to the analog port. - */ void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle) { // no status, so no need to check for a proper free. analogInputHandles->Free(analogPortHandle); } -/** - * Check that the analog module number is valid. - * - * @param module The analog module number. - * @return Analog module is valid and present - */ HAL_Bool HAL_CheckAnalogModule(int32_t module) { return module == 1; } -/** - * Check that the analog output channel number is value. - * Verify that the analog channel number is one of the legal channel numbers. - * Channel numbers are 0-based. - * - * @param channel The analog output channel number. - * @return Analog channel is valid - */ HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel) { return channel < kNumAnalogInputs && channel >= 0; } -/** - * Set the sample rate. - * - * This is a global setting for the Athena and effects all channels. - * - * @param samplesPerSecond The number of samples per channel per second. - */ void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) { // TODO: This will change when variable size scan lists are implemented. // TODO: Need double comparison with epsilon. @@ -114,14 +85,6 @@ void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status) { setAnalogSampleRate(samplesPerSecond, status); } -/** - * Get the current sample rate. - * - * This assumes one entry in the scan list. - * This is a global setting for the Athena and effects all channels. - * - * @return Sample rate. - */ double HAL_GetAnalogSampleRate(int32_t* status) { initializeAnalog(status); if (*status != 0) return 0; @@ -131,16 +94,6 @@ double HAL_GetAnalogSampleRate(int32_t* status) { return static_cast(kTimebase) / static_cast(ticksPerSample); } -/** - * Set the number of averaging bits. - * - * This sets the number of averaging bits. The actual number of averaged samples - * is 2**bits. Use averaging to improve the stability of your measurement at the - * expense of sampling rate. The averaging is done automatically in the FPGA. - * - * @param analogPortHandle Handle to the analog port to configure. - * @param bits Number of bits to average. - */ void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle, int32_t bits, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -152,15 +105,6 @@ void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle, status); } -/** - * Get the number of averaging bits. - * - * This gets the number of averaging bits from the FPGA. The actual number of - * averaged samples is 2**bits. The averaging is done automatically in the FPGA. - * - * @param analogPortHandle Handle to the analog port to use. - * @return Bits to average. - */ int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -172,17 +116,6 @@ int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle, return result; } -/** - * Set the number of oversample bits. - * - * This sets the number of oversample bits. The actual number of oversampled - * values is 2**bits. Use oversampling to improve the resolution of your - * measurements at the expense of sampling rate. The oversampling is done - * automatically in the FPGA. - * - * @param analogPortHandle Handle to the analog port to use. - * @param bits Number of bits to oversample. - */ void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle, int32_t bits, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -194,16 +127,6 @@ void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle, static_cast(bits), status); } -/** - * Get the number of oversample bits. - * - * This gets the number of oversample bits from the FPGA. The actual number of - * oversampled values is 2**bits. The oversampling is done automatically in the - * FPGA. - * - * @param analogPortHandle Handle to the analog port to use. - * @return Bits to oversample. - */ int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -215,16 +138,6 @@ int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle, return result; } -/** - * Get a sample straight from the channel on this module. - * - * The sample is a 12-bit value representing the 0V to 5V range of the A/D - * converter in the module. The units are in A/D converter codes. Use - * GetVoltage() to get the analog value in calibrated units. - * - * @param analogPortHandle Handle to the analog port to use. - * @return A sample straight from the channel on this module. - */ int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -243,20 +156,6 @@ int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle, return static_cast(analogInputSystem->readOutput(status)); } -/** - * Get a sample from the output of the oversample and average engine for the - * channel. - * - * The sample is 12-bit + the value configured in SetOversampleBits(). - * The value configured in SetAverageBits() will cause this value to be averaged - * 2**bits number of samples. This is not a sliding window. The sample will not - * change until 2**(OversamplBits + AverageBits) samples have been acquired from - * the module on this channel. Use GetAverageVoltage() to get the analog value - * in calibrated units. - * - * @param analogPortHandle Handle to the analog port to use. - * @return A sample from the oversample and average engine for the channel. - */ int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -274,62 +173,6 @@ int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle, return static_cast(analogInputSystem->readOutput(status)); } -/** - * Get a scaled sample straight from the channel on this module. - * - * The value is scaled to units of Volts using the calibrated scaling data from - * GetLSBWeight() and GetOffset(). - * - * @param analogPortHandle Handle to the analog port to use. - * @return A scaled sample straight from the channel on this module. - */ -double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle, - int32_t* status) { - int32_t value = HAL_GetAnalogValue(analogPortHandle, status); - int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status); - int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status); - double voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9; - return voltage; -} - -/** - * Get a scaled sample from the output of the oversample and average engine for - * the channel. - * - * The value is scaled to units of Volts using the calibrated scaling data from - * GetLSBWeight() and GetOffset(). Using oversampling will cause this value to - * be higher resolution, but it will update more slowly. Using averaging will - * cause this value to be more stable, but it will update more slowly. - * - * @param analogPortHandle Handle to the analog port to use. - * @return A scaled sample from the output of the oversample and average engine - * for the channel. - */ -double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle, - int32_t* status) { - int32_t value = HAL_GetAnalogAverageValue(analogPortHandle, status); - int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status); - int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status); - int32_t oversampleBits = - HAL_GetAnalogOversampleBits(analogPortHandle, status); - double voltage = - LSBWeight * 1.0e-9 * value / static_cast(1 << oversampleBits) - - offset * 1.0e-9; - return voltage; -} - -/** - * Convert a voltage to a raw value for a specified channel. - * - * This process depends on the calibration of each channel, so the channel must - * be specified. - * - * @todo This assumes raw values. Oversampling not supported as is. - * - * @param analogPortHandle Handle to the analog port to use. - * @param voltage The voltage to convert. - * @return The raw value for the channel. - */ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle, double voltage, int32_t* status) { if (voltage > 5.0) { @@ -347,16 +190,28 @@ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle, return value; } -/** - * Get the factory scaling least significant bit weight constant. - * The least significant bit weight constant for the channel that was calibrated - * in manufacturing and stored in an eeprom in the module. - * - * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) - * - * @param analogPortHandle Handle to the analog port to use. - * @return Least significant bit weight. - */ +double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle, + int32_t* status) { + int32_t value = HAL_GetAnalogValue(analogPortHandle, status); + int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status); + int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status); + double voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9; + return voltage; +} + +double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle, + int32_t* status) { + int32_t value = HAL_GetAnalogAverageValue(analogPortHandle, status); + int32_t LSBWeight = HAL_GetAnalogLSBWeight(analogPortHandle, status); + int32_t offset = HAL_GetAnalogOffset(analogPortHandle, status); + int32_t oversampleBits = + HAL_GetAnalogOversampleBits(analogPortHandle, status); + double voltage = + LSBWeight * 1.0e-9 * value / static_cast(1 << oversampleBits) - + offset * 1.0e-9; + return voltage; +} + int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); @@ -369,16 +224,6 @@ int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle, return lsbWeight; } -/** - * Get the factory scaling offset constant. - * The offset constant for the channel that was calibrated in manufacturing and - * stored in an eeprom in the module. - * - * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) - * - * @param analogPortHandle Handle to the analog port to use. - * @return Offset constant. - */ int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle, int32_t* status) { auto port = analogInputHandles->Get(analogPortHandle); diff --git a/hal/src/main/native/athena/AnalogInternal.cpp b/hal/src/main/native/athena/AnalogInternal.cpp index a864556cd9..7dd7c3630a 100644 --- a/hal/src/main/native/athena/AnalogInternal.cpp +++ b/hal/src/main/native/athena/AnalogInternal.cpp @@ -41,9 +41,6 @@ void InitializeAnalogInternal() { } } // namespace init -/** - * Initialize the analog System. - */ void initializeAnalog(int32_t* status) { hal::init::CheckInit(); if (analogSystemInitialized) return; @@ -56,41 +53,22 @@ void initializeAnalog(int32_t* status) { analogSystemInitialized = true; } -/** - * Return the number of channels on the module in use. - * - * @return Active channels. - */ int32_t getAnalogNumActiveChannels(int32_t* status) { int32_t scanSize = analogInputSystem->readConfig_ScanSize(status); if (scanSize == 0) return 8; return scanSize; } -/** - * Get the number of active channels. - * - * This is an internal function to allow the atomic update of both the - * number of active channels and the sample rate. - * - * When the number of channels changes, use the new value. Otherwise, - * return the curent value. - * - * @return Value to write to the active channels field. - */ +void setAnalogNumChannelsToActivate(int32_t channels) { + analogNumChannelsToActivate = channels; +} + int32_t getAnalogNumChannelsToActivate(int32_t* status) { if (analogNumChannelsToActivate == 0) return getAnalogNumActiveChannels(status); return analogNumChannelsToActivate; } -/** - * Set the sample rate. - * - * This is a global setting for the Athena and effects all channels. - * - * @param samplesPerSecond The number of samples per channel per second. - */ void setAnalogSampleRate(double samplesPerSecond, int32_t* status) { // TODO: This will change when variable size scan lists are implemented. // TODO: Need double comparison with epsilon. @@ -119,17 +97,4 @@ void setAnalogSampleRate(double samplesPerSecond, int32_t* status) { setAnalogNumChannelsToActivate(0); } -/** - * Set the number of active channels. - * - * Store the number of active channels to set. Don't actually commit to - * hardware - * until SetSampleRate(). - * - * @param channels Number of active channels. - */ -void setAnalogNumChannelsToActivate(int32_t channels) { - analogNumChannelsToActivate = channels; -} - } // namespace hal diff --git a/hal/src/main/native/athena/AnalogInternal.h b/hal/src/main/native/athena/AnalogInternal.h index 14d64610f2..e8fe89558a 100644 --- a/hal/src/main/native/athena/AnalogInternal.h +++ b/hal/src/main/native/athena/AnalogInternal.h @@ -40,10 +40,49 @@ extern IndexedHandleResource* analogInputHandles; -int32_t getAnalogNumActiveChannels(int32_t* status); -int32_t getAnalogNumChannelsToActivate(int32_t* status); -void setAnalogNumChannelsToActivate(int32_t channels); -void setAnalogSampleRate(double samplesPerSecond, int32_t* status); +/** + * Initialize the analog System. + */ void initializeAnalog(int32_t* status); +/** + * Return the number of channels on the module in use. + * + * @return Active channels. + */ +int32_t getAnalogNumActiveChannels(int32_t* status); + +/** + * Set the number of active channels. + * + * Store the number of active channels to set. Don't actually commit to + * hardware + * until SetSampleRate(). + * + * @param channels Number of active channels. + */ +void setAnalogNumChannelsToActivate(int32_t channels); + +/** + * Get the number of active channels. + * + * This is an internal function to allow the atomic update of both the + * number of active channels and the sample rate. + * + * When the number of channels changes, use the new value. Otherwise, + * return the curent value. + * + * @return Value to write to the active channels field. + */ +int32_t getAnalogNumChannelsToActivate(int32_t* status); + +/** + * Set the sample rate. + * + * This is a global setting for the Athena and effects all channels. + * + * @param samplesPerSecond The number of samples per channel per second. + */ +void setAnalogSampleRate(double samplesPerSecond, int32_t* status); + } // namespace hal diff --git a/hal/src/main/native/athena/AnalogOutput.cpp b/hal/src/main/native/athena/AnalogOutput.cpp index 07edfdbea7..18df2da28e 100644 --- a/hal/src/main/native/athena/AnalogOutput.cpp +++ b/hal/src/main/native/athena/AnalogOutput.cpp @@ -41,9 +41,6 @@ void InitializeAnalogOutput() { extern "C" { -/** - * Initialize the analog output port using the given port object. - */ HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle, int32_t* status) { hal::init::CheckInit(); @@ -78,17 +75,6 @@ void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle) { analogOutputHandles->Free(analogOutputHandle); } -/** - * Check that the analog output channel number is value. - * Verify that the analog channel number is one of the legal channel numbers. - * Channel numbers are 0-based. - * - * @return Analog channel is valid - */ -HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel) { - return channel < kNumAnalogOutputs && channel >= 0; -} - void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle, double voltage, int32_t* status) { auto port = analogOutputHandles->Get(analogOutputHandle); @@ -120,4 +106,8 @@ double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle, return rawValue * 5.0 / 0x1000; } +HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel) { + return channel < kNumAnalogOutputs && channel >= 0; +} + } // extern "C" diff --git a/hal/src/main/native/athena/AnalogTrigger.cpp b/hal/src/main/native/athena/AnalogTrigger.cpp index 58bdf0fc7b..f7e72890cc 100644 --- a/hal/src/main/native/athena/AnalogTrigger.cpp +++ b/hal/src/main/native/athena/AnalogTrigger.cpp @@ -94,10 +94,6 @@ void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle, trigger->trigger->writeUpperLimit(upper, status); } -/** - * Set the upper and lower limits of the analog trigger. - * The limits are given as floating point voltage values. - */ void HAL_SetAnalogTriggerLimitsVoltage( HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper, int32_t* status) { @@ -118,11 +114,6 @@ void HAL_SetAnalogTriggerLimitsVoltage( HAL_GetAnalogVoltsToValue(trigger->analogHandle, upper, status), status); } -/** - * Configure the analog trigger to use the averaged vs. raw values. - * If the value is true, then the averaged value is selected for the analog - * trigger, otherwise the immediate value is used. - */ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle, HAL_Bool useAveragedValue, int32_t* status) { auto trigger = analogTriggerHandles->Get(analogTriggerHandle); @@ -138,12 +129,6 @@ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle, trigger->trigger->writeSourceSelect_Averaged(useAveragedValue, status); } -/** - * Configure the analog trigger to use a filtered value. - * The analog trigger will operate with a 3 point average rejection filter. This - * is designed to help with 360 degree pot applications for the period where the - * pot crosses through zero. - */ void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle, HAL_Bool useFilteredValue, int32_t* status) { auto trigger = analogTriggerHandles->Get(analogTriggerHandle); @@ -159,11 +144,6 @@ void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle, trigger->trigger->writeSourceSelect_Filter(useFilteredValue, status); } -/** - * Return the InWindow output of the analog trigger. - * True if the analog input is between the upper and lower limits. - * @return The InWindow output of the analog trigger. - */ HAL_Bool HAL_GetAnalogTriggerInWindow( HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) { auto trigger = analogTriggerHandles->Get(analogTriggerHandle); @@ -174,13 +154,6 @@ HAL_Bool HAL_GetAnalogTriggerInWindow( return trigger->trigger->readOutput_InHysteresis(trigger->index, status) != 0; } -/** - * Return the TriggerState output of the analog trigger. - * True if above upper limit. - * False if below lower limit. - * If in Hysteresis, maintain previous state. - * @return The TriggerState output of the analog trigger. - */ HAL_Bool HAL_GetAnalogTriggerTriggerState( HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status) { auto trigger = analogTriggerHandles->Get(analogTriggerHandle); @@ -191,10 +164,6 @@ HAL_Bool HAL_GetAnalogTriggerTriggerState( return trigger->trigger->readOutput_OverLimit(trigger->index, status) != 0; } -/** - * Get the state of the analog trigger output. - * @return The state of the analog trigger output. - */ HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle, HAL_AnalogTriggerType type, int32_t* status) { diff --git a/hal/src/main/native/athena/Counter.cpp b/hal/src/main/native/athena/Counter.cpp index 2bba5ae2ab..342807d263 100644 --- a/hal/src/main/native/athena/Counter.cpp +++ b/hal/src/main/native/athena/Counter.cpp @@ -77,10 +77,6 @@ void HAL_SetCounterAverageSize(HAL_CounterHandle counterHandle, int32_t size, counter->counter->writeTimerConfig_AverageSize(size, status); } -/** - * Set the source object that causes the counter to count up. - * Set the up counting DigitalSource. - */ void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, @@ -115,10 +111,6 @@ void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle, counter->counter->strobeReset(status); } -/** - * Set the edge sensitivity on an up counting source. - * Set the up source to either detect rising edges or falling edges. - */ void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle, HAL_Bool risingEdge, HAL_Bool fallingEdge, int32_t* status) { @@ -131,9 +123,6 @@ void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle, counter->counter->writeConfig_UpFallingEdge(fallingEdge, status); } -/** - * Disable the up counting source to the counter. - */ void HAL_ClearCounterUpSource(HAL_CounterHandle counterHandle, int32_t* status) { auto counter = counterHandles->Get(counterHandle); @@ -148,10 +137,6 @@ void HAL_ClearCounterUpSource(HAL_CounterHandle counterHandle, counter->counter->writeConfig_UpSource_AnalogTrigger(false, status); } -/** - * Set the source object that causes the counter to count down. - * Set the down counting DigitalSource. - */ void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, @@ -189,10 +174,6 @@ void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle, counter->counter->strobeReset(status); } -/** - * Set the edge sensitivity on a down counting source. - * Set the down source to either detect rising edges or falling edges. - */ void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle, HAL_Bool risingEdge, HAL_Bool fallingEdge, int32_t* status) { @@ -205,9 +186,6 @@ void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle, counter->counter->writeConfig_DownFallingEdge(fallingEdge, status); } -/** - * Disable the down counting source to the counter. - */ void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle, int32_t* status) { auto counter = counterHandles->Get(counterHandle); @@ -222,10 +200,6 @@ void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle, counter->counter->writeConfig_DownSource_AnalogTrigger(false, status); } -/** - * Set standard up / down counting mode on this counter. - * Up and down counts are sourced independently from two inputs. - */ void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle, int32_t* status) { auto counter = counterHandles->Get(counterHandle); @@ -236,11 +210,6 @@ void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle, counter->counter->writeConfig_Mode(HAL_Counter_kTwoPulse, status); } -/** - * Set external direction mode on this counter. - * Counts are sourced on the Up counter input. - * The Down counter input represents the direction to count. - */ void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle, int32_t* status) { auto counter = counterHandles->Get(counterHandle); @@ -251,10 +220,6 @@ void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle, counter->counter->writeConfig_Mode(HAL_Counter_kExternalDirection, status); } -/** - * Set Semi-period mode on this counter. - * Counts up on both rising and falling edges. - */ void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle, HAL_Bool highSemiPeriod, int32_t* status) { auto counter = counterHandles->Get(counterHandle); @@ -267,13 +232,6 @@ void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle, HAL_SetCounterUpdateWhenEmpty(counterHandle, false, status); } -/** - * Configure the counter to count in up or down based on the length of the input - * pulse. - * This mode is most useful for direction sensitive gear tooth sensors. - * @param threshold The pulse length beyond which the counter counts the - * opposite direction. Units are seconds. - */ void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle, double threshold, int32_t* status) { auto counter = counterHandles->Get(counterHandle); @@ -288,13 +246,6 @@ void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle, status); } -/** - * 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) - */ int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle, int32_t* status) { auto counter = counterHandles->Get(counterHandle); @@ -305,12 +256,6 @@ int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle, return counter->counter->readTimerConfig_AverageSize(status); } -/** - * 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. - */ void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle, int32_t samplesToAverage, int32_t* status) { auto counter = counterHandles->Get(counterHandle); @@ -324,11 +269,6 @@ void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle, counter->counter->writeTimerConfig_AverageSize(samplesToAverage, status); } -/** - * Reset the Counter to zero. - * Set the counter value to zero. This doesn't effect the running state of the - * counter, just sets the current value to zero. - */ void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status) { auto counter = counterHandles->Get(counterHandle); if (counter == nullptr) { @@ -338,11 +278,6 @@ void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status) { counter->counter->strobeReset(status); } -/** - * Read the current counter value. - * Read the value at this instant. It may still be running, so it reflects the - * current value. Next time it is read, it might have a different value. - */ int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status) { auto counter = counterHandles->Get(counterHandle); if (counter == nullptr) { @@ -353,12 +288,6 @@ int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status) { return value; } -/* - * Get the Period of the most recent count. - * Returns the time interval of the most recent count. This can be used for - * velocity calculations to determine shaft speed. - * @returns The period of the last two pulses in units of seconds. - */ double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status) { auto counter = counterHandles->Get(counterHandle); if (counter == nullptr) { @@ -381,14 +310,6 @@ double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status) { 2.5e-8); // result * timebase (currently 25ns) } -/** - * Set the maximum period where the device is still considered "moving". - * Sets the maximum period where the device is considered moving. This value is - * used to determine the "stopped" state of the counter using the GetStopped - * method. - * @param maxPeriod The maximum period where the counted device is considered - * moving in seconds. - */ void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod, int32_t* status) { auto counter = counterHandles->Get(counterHandle); @@ -400,19 +321,6 @@ void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod, static_cast(maxPeriod * 4.0e8), status); } -/** - * Select whether you want to continue updating the event timer output when - * there are no samples captured. The output of the event timer has a buffer of - * periods that are averaged and posted to a register on the FPGA. When the - * timer detects that the event source has stopped (based on the MaxPeriod) the - * buffer of samples to be averaged is emptied. If you enable the update when - * empty, you will be notified of the stopped source and the event time will - * report 0 samples. If you disable update when empty, the most recent average - * will remain on the output until a new sample is acquired. You will never see - * 0 samples output (except when there have been no events since an FPGA reset) - * and you will likely not see the stopped bit become true (since it is updated - * at the end of an average and there are no samples to average). - */ void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle, HAL_Bool enabled, int32_t* status) { auto counter = counterHandles->Get(counterHandle); @@ -423,14 +331,6 @@ void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle, counter->counter->writeTimerConfig_UpdateWhenEmpty(enabled, status); } -/** - * Determine if the clock is stopped. - * Determine if the clocked input is stopped based on the MaxPeriod value set - * using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the - * device (and counter) are assumed to be stopped and it returns true. - * @return Returns true if the most recent counter period exceeds the MaxPeriod - * value set by SetMaxPeriod. - */ HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle, int32_t* status) { auto counter = counterHandles->Get(counterHandle); @@ -441,10 +341,6 @@ HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle, return counter->counter->readTimerOutput_Stalled(status); } -/** - * The last direction the counter value changed. - * @return The last direction the counter value changed. - */ HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle, int32_t* status) { auto counter = counterHandles->Get(counterHandle); @@ -456,12 +352,6 @@ HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle, return value; } -/** - * Set the Counter to return reversed sensing on the direction. - * This allows counters to change the direction they are counting in the case of - * 1X and 2X quadrature encoding only. Any other counter mode isn't supported. - * @param reverseDirection true if the value counted should be negated. - */ void HAL_SetCounterReverseDirection(HAL_CounterHandle counterHandle, HAL_Bool reverseDirection, int32_t* status) { diff --git a/hal/src/main/native/athena/DIO.cpp b/hal/src/main/native/athena/DIO.cpp index 3eeeab0b82..8e631418af 100644 --- a/hal/src/main/native/athena/DIO.cpp +++ b/hal/src/main/native/athena/DIO.cpp @@ -42,9 +42,6 @@ void InitializeDIO() { extern "C" { -/** - * Create a new instance of a digital port. - */ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle, HAL_Bool input, int32_t* status) { hal::init::CheckInit(); @@ -163,12 +160,6 @@ void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) { } } -/** - * Allocate a DO PWM Generator. - * Allocate PWM generators so that they are not accidentally reused. - * - * @return PWM Generator handle - */ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) { auto handle = digitalPWMHandles->Allocate(); if (handle == HAL_kInvalidHandle) { @@ -186,24 +177,10 @@ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) { return handle; } -/** - * Free the resource associated with a DO PWM generator. - * - * @param pwmGenerator The pwmGen to free that was allocated with - * allocateDigitalPWM() - */ void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) { digitalPWMHandles->Free(pwmGenerator); } -/** - * Change the frequency of the DO PWM generator. - * - * The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is - * logarithmic. - * - * @param rate The frequency to output all digital output PWM signals. - */ void HAL_SetDigitalPWMRate(double rate, int32_t* status) { // Currently rounding in the log rate domain... heavy weight toward picking a // higher freq. @@ -215,12 +192,6 @@ void HAL_SetDigitalPWMRate(double rate, int32_t* status) { digitalSystem->writePWMPeriodPower(pwmPeriodPower, status); } -/** - * Configure the duty-cycle of the PWM generator - * - * @param pwmGenerator The generator index reserved by allocateDigitalPWM() - * @param dutyCycle The percent duty cycle to output [0..1]. - */ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator, double dutyCycle, int32_t* status) { auto port = digitalPWMHandles->Get(pwmGenerator); @@ -250,12 +221,6 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator, } } -/** - * Configure which DO channel the PWM signal is output on - * - * @param pwmGenerator The generator index reserved by allocateDigitalPWM() - * @param channel The Digital Output channel to output on - */ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator, int32_t channel, int32_t* status) { auto port = digitalPWMHandles->Get(pwmGenerator); @@ -275,14 +240,6 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator, digitalSystem->writePWMOutputSelect(id, channel, status); } -/** - * Write a digital I/O bit to the FPGA. - * Set a single value on a digital I/O channel. - * - * @param channel The Digital I/O channel - * @param value The state to set the digital channel (if it is configured as an - * output) - */ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); @@ -324,12 +281,6 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value, } } -/** - * Set direction of a DIO channel. - * - * @param channel The Digital I/O channel - * @param input true to set input, false for output - */ void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); @@ -368,13 +319,6 @@ void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input, } } -/** - * Read a digital I/O bit from the FPGA. - * Get a single value from a digital I/O channel. - * - * @param channel The digital I/O channel - * @return The state of the specified channel - */ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { @@ -396,13 +340,6 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) { } } -/** - * Read the direction of a the Digital I/O lines - * A 1 bit means output and a 0 bit means input. - * - * @param channel The digital I/O channel - * @return The direction of the specified channel - */ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { @@ -427,14 +364,6 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) { } } -/** - * Generate a single pulse. - * Write a pulse to the specified digital output channel. There can only be a - * single pulse going at any time. - * - * @param channel The Digital Output channel that the pulse should be output on - * @param pulseLength The active length of the pulse (in seconds) - */ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); @@ -459,11 +388,6 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength, digitalSystem->writePulse(pulse, status); } -/** - * Check a DIO line to see if it is currently generating a pulse. - * - * @return A pulse is in progress - */ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { @@ -481,11 +405,6 @@ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) { } } -/** - * Check if any DIO line is currently generating a pulse. - * - * @return A pulse on some line is in progress - */ HAL_Bool HAL_IsAnyPulsing(int32_t* status) { initializeDigital(status); if (*status != 0) return false; @@ -494,14 +413,6 @@ HAL_Bool HAL_IsAnyPulsing(int32_t* status) { pulseRegister.SPIPort != 0; } -/** - * Write the filter index from the FPGA. - * Set the filter index used to filter out short pulses. - * - * @param dioPortHandle Handle to the digital I/O channel - * @param filterIndex The filter index. Must be in the range 0 - 3, where 0 - * means "none" and 1 - 3 means filter # filterIndex - 1. - */ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); @@ -523,14 +434,6 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex, } } -/** - * Read the filter index from the FPGA. - * Get the filter index used to filter out short pulses. - * - * @param dioPortHandle Handle to the digital I/O channel - * @return filterIndex The filter index. Must be in the range 0 - 3, - * where 0 means "none" and 1 - 3 means filter # filterIndex - 1. - */ int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { @@ -551,17 +454,6 @@ int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) { } } -/** - * Set the filter period for the specified filter index. - * - * Set the filter period in FPGA cycles. Even though there are 2 different - * filter index domains (MXP vs HDR), ignore that distinction for now since it - * compilicates the interface. That can be changed later. - * - * @param filterIndex The filter index, 0 - 2. - * @param value The number of cycles that the signal must not transition to be - * counted as a transition. - */ void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status) { initializeDigital(status); if (*status != 0) return; @@ -572,18 +464,6 @@ void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status) { } } -/** - * Get the filter period for the specified filter index. - * - * Get the filter period in FPGA cycles. Even though there are 2 different - * filter index domains (MXP vs HDR), ignore that distinction for now since it - * compilicates the interface. Set status to NiFpga_Status_SoftwareFault if the - * filter values miss-match. - * - * @param filterIndex The filter index, 0 - 2. - * @param value The number of cycles that the signal must not transition to be - * counted as a transition. - */ int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status) { initializeDigital(status); if (*status != 0) return 0; diff --git a/hal/src/main/native/athena/DigitalInternal.cpp b/hal/src/main/native/athena/DigitalInternal.cpp index 191c1fafe5..13b4f321d0 100644 --- a/hal/src/main/native/athena/DigitalInternal.cpp +++ b/hal/src/main/native/athena/DigitalInternal.cpp @@ -67,9 +67,6 @@ int32_t ComputeDigitalMask(HAL_DigitalHandle handle, int32_t* status) { } } // namespace detail -/** - * Initialize the digital system. - */ void initializeDigital(int32_t* status) { hal::init::CheckInit(); static std::atomic_bool initialized{false}; @@ -135,32 +132,6 @@ void initializeDigital(int32_t* status) { initialized = true; } -/** - * Map SPI channel numbers from their physical number (27 to 31) to their - * position in the bit field. - */ -int32_t remapSPIChannel(int32_t channel) { return channel - 26; } - -/** - * Map DIO channel numbers from their physical number (10 to 26) to their - * position in the bit field. - */ -int32_t remapMXPChannel(int32_t channel) { return channel - 10; } - -int32_t remapMXPPWMChannel(int32_t channel) { - if (channel < 14) { - return channel - 10; // first block of 4 pwms (MXP 0-3) - } else { - return channel - 6; // block of PWMs after SPI - } -} - -/** - * remap the digital source channel and set the module. - * If it's an analog trigger, determine the module from the high order routing - * channel else do normal digital input remapping based on channel number - * (MXP) - */ bool remapDigitalSource(HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, uint8_t& channel, uint8_t& module, @@ -192,6 +163,18 @@ bool remapDigitalSource(HAL_Handle digitalSourceHandle, } } +int32_t remapMXPChannel(int32_t channel) { return channel - 10; } + +int32_t remapMXPPWMChannel(int32_t channel) { + if (channel < 14) { + return channel - 10; // first block of 4 pwms (MXP 0-3) + } else { + return channel - 6; // block of PWMs after SPI + } +} + +int32_t remapSPIChannel(int32_t channel) { return channel - 26; } + } // namespace hal // Unused function here to test template compile. diff --git a/hal/src/main/native/athena/DigitalInternal.h b/hal/src/main/native/athena/DigitalInternal.h index 57bbb6414f..90cdb88a1b 100644 --- a/hal/src/main/native/athena/DigitalInternal.h +++ b/hal/src/main/native/athena/DigitalInternal.h @@ -81,12 +81,33 @@ extern DigitalHandleResourceFree(fpgaEncoderHandle); } -/** - * Reset the Encoder distance to zero. - * Resets the current count to zero on the encoder. - */ void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle); @@ -116,12 +112,6 @@ void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, encoder->encoder->strobeReset(status); } -/** - * Gets the fpga value from the encoder. - * The fpga value is the actual count unscaled by the 1x, 2x, or 4x scale - * factor. - * @return Current fpga count from the encoder - */ int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle); @@ -132,16 +122,6 @@ int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, return encoder->encoder->readOutput_Value(status); } -/** - * 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. - */ double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle); @@ -165,20 +145,6 @@ double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle, return measuredPeriod / DECODING_SCALING_FACTOR; } -/** - * Sets the maximum period for stopped detection. - * Sets the value that represents the maximum period of the Encoder before it - * will assume 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. - */ void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle, double maxPeriod, int32_t* status) { auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle); @@ -191,13 +157,6 @@ void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle, status); } -/** - * Determine if the encoder is stopped. - * Using the MaxPeriod value, a boolean is returned that is true if the encoder - * is considered stopped and false if it is still moving. A stopped encoder is - * one where the most recent pulse width exceeds the MaxPeriod. - * @return True if the encoder is considered stopped. - */ HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle); @@ -208,10 +167,6 @@ HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle, return encoder->encoder->readTimerOutput_Stalled(status) != 0; } -/** - * The last direction the encoder value changed. - * @return The last direction the encoder value changed. - */ HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle); @@ -222,12 +177,6 @@ HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle, return encoder->encoder->readOutput_Direction(status); } -/** - * Set the direction sensing for this encoder. - * This sets the direction sensing on the encoder so that it could count in the - * correct software direction regardless of the mounting. - * @param reverseDirection true if the encoder direction should be reversed - */ void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle, HAL_Bool reverseDirection, int32_t* status) { @@ -239,12 +188,6 @@ void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle, encoder->encoder->writeConfig_Reverse(reverseDirection, status); } -/** - * 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. - */ void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t samplesToAverage, int32_t* status) { @@ -259,12 +202,6 @@ void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle, encoder->encoder->writeTimerConfig_AverageSize(samplesToAverage, status); } -/** - * 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) - */ int32_t HAL_GetFPGAEncoderSamplesToAverage( HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status) { auto encoder = fpgaEncoderHandles->Get(fpgaEncoderHandle); @@ -275,10 +212,6 @@ int32_t HAL_GetFPGAEncoderSamplesToAverage( return encoder->encoder->readTimerConfig_AverageSize(status); } -/** - * Set an index source for an encoder, which is an input that resets the - * encoder's count. - */ void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpgaEncoderHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, diff --git a/hal/src/main/native/athena/FPGAEncoder.h b/hal/src/main/native/athena/FPGAEncoder.h index c05d4360fc..8c9b30eb36 100644 --- a/hal/src/main/native/athena/FPGAEncoder.h +++ b/hal/src/main/native/athena/FPGAEncoder.h @@ -20,26 +20,103 @@ HAL_FPGAEncoderHandle HAL_InitializeFPGAEncoder( HAL_Bool reverseDirection, int32_t* index, int32_t* status); void HAL_FreeFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); + +/** + * Reset the Encoder distance to zero. + * Resets the current count to zero on the encoder. + */ void HAL_ResetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); + +/** + * Gets the fpga value from the encoder. + * The fpga value is the actual count unscaled by the 1x, 2x, or 4x scale + * factor. + * @return Current fpga count from the encoder + */ int32_t HAL_GetFPGAEncoder(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); // Raw value + +/** + * 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. + */ double HAL_GetFPGAEncoderPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); + +/** + * Sets the maximum period for stopped detection. + * Sets the value that represents the maximum period of the Encoder before it + * will assume 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. + */ void HAL_SetFPGAEncoderMaxPeriod(HAL_FPGAEncoderHandle fpgaEncoderHandle, double maxPeriod, int32_t* status); + +/** + * Determine if the encoder is stopped. + * Using the MaxPeriod value, a boolean is returned that is true if the encoder + * is considered stopped and false if it is still moving. A stopped encoder is + * one where the most recent pulse width exceeds the MaxPeriod. + * @return True if the encoder is considered stopped. + */ HAL_Bool HAL_GetFPGAEncoderStopped(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); + +/** + * The last direction the encoder value changed. + * @return The last direction the encoder value changed. + */ HAL_Bool HAL_GetFPGAEncoderDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); + +/** + * Set the direction sensing for this encoder. + * This sets the direction sensing on the encoder so that it could count in the + * correct software direction regardless of the mounting. + * @param reverseDirection true if the encoder direction should be reversed + */ void HAL_SetFPGAEncoderReverseDirection(HAL_FPGAEncoderHandle fpgaEncoderHandle, HAL_Bool reverseDirection, int32_t* status); + +/** + * 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. + */ void HAL_SetFPGAEncoderSamplesToAverage(HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t samplesToAverage, int32_t* status); + +/** + * 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) + */ int32_t HAL_GetFPGAEncoderSamplesToAverage( HAL_FPGAEncoderHandle fpgaEncoderHandle, int32_t* status); + +/** + * Set an index source for an encoder, which is an input that resets the + * encoder's count. + */ void HAL_SetFPGAEncoderIndexSource(HAL_FPGAEncoderHandle fpgaEncoderHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, diff --git a/hal/src/main/native/athena/FRCDriverStation.cpp b/hal/src/main/native/athena/FRCDriverStation.cpp index 8c353ddcb4..3607fdd533 100644 --- a/hal/src/main/native/athena/FRCDriverStation.cpp +++ b/hal/src/main/native/athena/FRCDriverStation.cpp @@ -146,17 +146,7 @@ int32_t HAL_GetJoystickButtons(int32_t joystickNum, return FRC_NetworkCommunication_getJoystickButtons( joystickNum, &buttons->buttons, &buttons->count); } -/** - * Retrieve the Joystick Descriptor for particular slot - * @param desc [out] descriptor (data transfer object) to fill in. desc is - * filled in regardless of success. In other words, if descriptor is not - * available, desc is filled in with default values matching the init-values in - * Java and C++ Driverstation for when caller requests a too-large joystick - * index. - * - * @return error code reported from Network Comm back-end. Zero is good, - * nonzero is bad. - */ + int32_t HAL_GetJoystickDescriptor(int32_t joystickNum, HAL_JoystickDescriptor* desc) { desc->isXbox = 0; @@ -333,16 +323,8 @@ bool HAL_IsNewControlData(void) { return true; } -/** - * Waits for the newest DS packet to arrive. Note that this is a blocking call. - */ void HAL_WaitForDSData(void) { HAL_WaitForDSDataTimeout(0); } -/** - * Waits for the newest DS packet to arrive. If timeout is <= 0, this will wait - * forever. Otherwise, it will wait until either a new packet, or the timeout - * time has passed. Returns true on new data, false on timeout. - */ HAL_Bool HAL_WaitForDSDataTimeout(double timeout) { auto timeoutTime = std::chrono::steady_clock::now() + std::chrono::duration(timeout); @@ -375,11 +357,6 @@ static void newDataOccur(uint32_t refNum) { newDSDataAvailableCond->notify_all(); } -/* - * Call this to initialize the driver station communication. This will properly - * handle multiple calls. However note that this CANNOT be called from a library - * that interfaces with LabVIEW. - */ void HAL_InitializeDriverStation(void) { hal::init::CheckInit(); static std::atomic_bool initialized{false}; @@ -399,10 +376,6 @@ void HAL_InitializeDriverStation(void) { initialized = true; } -/* - * Releases the DS Mutex to allow proper shutdown of any threads that are - * waiting on it. - */ void HAL_ReleaseDSMutex(void) { newDataOccur(refNumber); } } // extern "C" diff --git a/hal/src/main/native/athena/HAL.cpp b/hal/src/main/native/athena/HAL.cpp index 85819d837e..bbf5634a30 100644 --- a/hal/src/main/native/athena/HAL.cpp +++ b/hal/src/main/native/athena/HAL.cpp @@ -84,9 +84,6 @@ HAL_PortHandle HAL_GetPort(int32_t channel) { return createPortHandle(channel, 1); } -/** - * @deprecated Uses module numbers - */ HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel) { // Dont allow a number that wouldn't fit in a uint8_t if (channel < 0 || channel >= 255) return HAL_kInvalidHandle; @@ -215,16 +212,8 @@ const char* HAL_GetErrorMessage(int32_t code) { } } -/** - * Returns the runtime type of this HAL - */ HAL_RuntimeType HAL_GetRuntimeType(void) { return HAL_Athena; } -/** - * Return the FPGA Version number. - * For now, expect this to be competition year. - * @return FPGA Version number. - */ int32_t HAL_GetFPGAVersion(int32_t* status) { if (!global) { *status = NiFpga_Status_ResourceNotInitialized; @@ -233,14 +222,6 @@ int32_t HAL_GetFPGAVersion(int32_t* status) { return global->readVersion(status); } -/** - * Return the FPGA Revision number. - * The format of the revision is 3 numbers. - * The 12 most significant bits are the Major Revision. - * the next 8 bits are the Minor Revision. - * The 12 least significant bits are the Build Number. - * @return FPGA Revision number. - */ int64_t HAL_GetFPGARevision(int32_t* status) { if (!global) { *status = NiFpga_Status_ResourceNotInitialized; @@ -249,12 +230,6 @@ int64_t HAL_GetFPGARevision(int32_t* status) { return global->readRevision(status); } -/** - * Read the microsecond-resolution timer on the FPGA. - * - * @return The current time in microseconds according to the FPGA (since FPGA - * reset). - */ uint64_t HAL_GetFPGATime(int32_t* status) { if (!global) { *status = NiFpga_Status_ResourceNotInitialized; @@ -273,10 +248,6 @@ uint64_t HAL_GetFPGATime(int32_t* status) { return (upper2 << 32) + lower; } -/** - * Get the state of the "USER" button on the roboRIO - * @return true if the button is currently pressed down - */ HAL_Bool HAL_GetFPGAButton(int32_t* status) { if (!global) { *status = NiFpga_Status_ResourceNotInitialized; @@ -360,9 +331,6 @@ static bool killExistingProgram(int timeout, int mode) { return true; } -/** - * Call this to start up HAL. This is required for robot programs. - */ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode) { static std::atomic_bool initialized{false}; static wpi::mutex initializeMutex; diff --git a/hal/src/main/native/athena/I2C.cpp b/hal/src/main/native/athena/I2C.cpp index 50edd57137..069e9e58de 100644 --- a/hal/src/main/native/athena/I2C.cpp +++ b/hal/src/main/native/athena/I2C.cpp @@ -41,11 +41,6 @@ void InitializeI2C() {} extern "C" { -/* - * Initialize the I2C port. Opens the port if necessary and saves the handle. - * If opening the MXP port, also sets up the channel functions appropriately - * @param port The port to open, 0 for the on-board, 1 for the MXP. - */ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) { hal::init::CheckInit(); initializeDigital(status); @@ -90,18 +85,6 @@ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status) { } } -/** - * Generic transaction. - * - * This is a lower-level interface to the I2C hardware giving you more control - * over each transaction. - * - * @param dataToSend Buffer of data to send as part of the transaction. - * @param sendSize Number of bytes to send as part of the transaction. - * @param dataReceived Buffer to read data into. - * @param receiveSize Number of bytes to read from the device. - * @return >= 0 on success or -1 on transfer abort. - */ int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress, const uint8_t* dataToSend, int32_t sendSize, uint8_t* dataReceived, int32_t receiveSize) { @@ -133,17 +116,6 @@ int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress, } } -/** - * Execute a write transaction with the device. - * - * Write a single byte to a register on a device and wait until the - * transaction is complete. - * - * @param registerAddress The address of the register on the device to be - * written. - * @param data The byte to write to the register on the device. - * @return >= 0 on success or -1 on transfer abort. - */ int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress, const uint8_t* dataToSend, int32_t sendSize) { if (port > 1) { @@ -170,19 +142,6 @@ int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress, } } -/** - * Execute a read transaction with the device. - * - * Read bytes from a device. - * Most I2C devices will auto-increment the register pointer internally allowing - * you to read consecutive registers on a device in a single transaction. - * - * @param registerAddress The register to read first in the transaction. - * @param count The number of bytes to read in the transaction. - * @param buffer A pointer to the array of bytes to store the data read from the - * device. - * @return >= 0 on success or -1 on transfer abort. - */ int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer, int32_t count) { if (port > 1) { diff --git a/hal/src/main/native/athena/Interrupts.cpp b/hal/src/main/native/athena/Interrupts.cpp index 01b8a795d9..c3f63f6bc6 100644 --- a/hal/src/main/native/athena/Interrupts.cpp +++ b/hal/src/main/native/athena/Interrupts.cpp @@ -123,13 +123,6 @@ void* HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle, return param; } -/** - * In synchronous mode, wait for the defined interrupt to occur. - * @param timeout Timeout in seconds - * @param ignorePrevious If true, ignore interrupts that happened before - * waitForInterrupt was called. - * @return The mask of interrupts that fired. - */ int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interruptHandle, double timeout, HAL_Bool ignorePrevious, int32_t* status) { @@ -152,12 +145,6 @@ int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interruptHandle, return result; } -/** - * Enable interrupts to occur on this input. - * Interrupts are disabled when the RequestInterrupt call is made. This gives - * time to do the setup of the other options before starting to field - * interrupts. - */ void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status) { auto anInterrupt = interruptHandles->Get(interruptHandle); @@ -168,9 +155,6 @@ void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle, anInterrupt->manager->enable(status); } -/** - * Disable Interrupts without without deallocating structures. - */ void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status) { auto anInterrupt = interruptHandles->Get(interruptHandle); @@ -181,11 +165,6 @@ void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle, anInterrupt->manager->disable(status); } -/** - * Return the timestamp for the rising interrupt that occurred most recently. - * This is in the same time domain as GetClock(). - * @return Timestamp in seconds since boot. - */ double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle, int32_t* status) { auto anInterrupt = interruptHandles->Get(interruptHandle); @@ -197,11 +176,6 @@ double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle, return timestamp * 1e-6; } -/** - * Return the timestamp for the falling interrupt that occurred most recently. - * This is in the same time domain as GetClock(). - * @return Timestamp in seconds since boot. - */ double HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interruptHandle, int32_t* status) { auto anInterrupt = interruptHandles->Get(interruptHandle); diff --git a/hal/src/main/native/athena/PWM.cpp b/hal/src/main/native/athena/PWM.cpp index b1b7db3531..13da5da368 100644 --- a/hal/src/main/native/athena/PWM.cpp +++ b/hal/src/main/native/athena/PWM.cpp @@ -235,14 +235,6 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, return port->eliminateDeadband; } -/** - * Set a PWM channel to the desired value. The values range from 0 to 255 and - * the period is controlled - * by the PWM Period and MinHigh registers. - * - * @param channel The PWM channel to set. - * @param value The PWM value to set. - */ void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); @@ -258,15 +250,6 @@ void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value, } } -/** - * Set a PWM channel to the desired scaled value. The values range from -1 to 1 - * and - * the period is controlled - * by the PWM Period and MinHigh registers. - * - * @param channel The PWM channel to set. - * @param value The scaled PWM value to set. - */ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); @@ -313,15 +296,6 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed, HAL_SetPWMRaw(pwmPortHandle, rawValue, status); } -/** - * Set a PWM channel to the desired position value. The values range from 0 to 1 - * and - * the period is controlled - * by the PWM Period and MinHigh registers. - * - * @param channel The PWM channel to set. - * @param value The scaled PWM value to set. - */ void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); @@ -359,12 +333,6 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) { HAL_SetPWMRaw(pwmPortHandle, kPwmDisabled, status); } -/** - * Get a value from a PWM channel. The values range from 0 to 255. - * - * @param channel The PWM channel to read from. - * @return The raw PWM value. - */ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { @@ -379,12 +347,6 @@ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) { } } -/** - * Get a scaled value from a PWM channel. The values range from -1 to 1. - * - * @param channel The PWM channel to read from. - * @return The scaled PWM value. - */ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { @@ -417,12 +379,6 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) { } } -/** - * Get a position value from a PWM channel. The values range from 0 to 1. - * - * @param channel The PWM channel to read from. - * @return The scaled PWM value. - */ double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { @@ -459,12 +415,6 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) { pwmSystem->writeZeroLatch(port->channel, false, status); } -/** - * Set how how often the PWM signal is squelched, thus scaling the period. - * - * @param channel The PWM channel to configure. - * @param squelchMask The 2-bit mask of outputs to squelch. - */ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); @@ -481,22 +431,12 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, } } -/** - * Get the loop timing of the PWM system - * - * @return The loop time - */ int32_t HAL_GetPWMLoopTiming(int32_t* status) { initializeDigital(status); if (*status != 0) return 0; return pwmSystem->readLoopTiming(status); } -/** - * Get the pwm starting cycle time - * - * @return The pwm cycle start time. - */ uint64_t HAL_GetPWMCycleStartTime(int32_t* status) { initializeDigital(status); if (*status != 0) return 0; diff --git a/hal/src/main/native/athena/Power.cpp b/hal/src/main/native/athena/Power.cpp index dbb7da8223..1918f9c6aa 100644 --- a/hal/src/main/native/athena/Power.cpp +++ b/hal/src/main/native/athena/Power.cpp @@ -35,115 +35,73 @@ void InitializePower() {} extern "C" { -/** - * Get the roboRIO input voltage - */ double HAL_GetVinVoltage(int32_t* status) { initializePower(status); return power->readVinVoltage(status) / 4.096 * 0.025733 - 0.029; } -/** - * Get the roboRIO input current - */ double HAL_GetVinCurrent(int32_t* status) { initializePower(status); return power->readVinCurrent(status) / 4.096 * 0.017042 - 0.071; } -/** - * Get the 6V rail voltage - */ double HAL_GetUserVoltage6V(int32_t* status) { initializePower(status); return power->readUserVoltage6V(status) / 4.096 * 0.007019 - 0.014; } -/** - * Get the 6V rail current - */ double HAL_GetUserCurrent6V(int32_t* status) { initializePower(status); return power->readUserCurrent6V(status) / 4.096 * 0.005566 - 0.009; } -/** - * Get the active state of the 6V rail - */ HAL_Bool HAL_GetUserActive6V(int32_t* status) { initializePower(status); return power->readStatus_User6V(status) == 4; } -/** - * Get the fault count for the 6V rail - */ int32_t HAL_GetUserCurrentFaults6V(int32_t* status) { initializePower(status); return static_cast( power->readFaultCounts_OverCurrentFaultCount6V(status)); } -/** - * Get the 5V rail voltage - */ double HAL_GetUserVoltage5V(int32_t* status) { initializePower(status); return power->readUserVoltage5V(status) / 4.096 * 0.005962 - 0.013; } -/** - * Get the 5V rail current - */ double HAL_GetUserCurrent5V(int32_t* status) { initializePower(status); return power->readUserCurrent5V(status) / 4.096 * 0.001996 - 0.002; } -/** - * Get the active state of the 5V rail - */ HAL_Bool HAL_GetUserActive5V(int32_t* status) { initializePower(status); return power->readStatus_User5V(status) == 4; } -/** - * Get the fault count for the 5V rail - */ int32_t HAL_GetUserCurrentFaults5V(int32_t* status) { initializePower(status); return static_cast( power->readFaultCounts_OverCurrentFaultCount5V(status)); } -/** - * Get the 3.3V rail voltage - */ double HAL_GetUserVoltage3V3(int32_t* status) { initializePower(status); return power->readUserVoltage3V3(status) / 4.096 * 0.004902 - 0.01; } -/** - * Get the 3.3V rail current - */ double HAL_GetUserCurrent3V3(int32_t* status) { initializePower(status); return power->readUserCurrent3V3(status) / 4.096 * 0.002486 - 0.003; } -/** - * Get the active state of the 3.3V rail - */ HAL_Bool HAL_GetUserActive3V3(int32_t* status) { initializePower(status); return power->readStatus_User3V3(status) == 4; } -/** - * Get the fault count for the 3.3V rail - */ int32_t HAL_GetUserCurrentFaults3V3(int32_t* status) { initializePower(status); return static_cast( diff --git a/hal/src/main/native/athena/Relay.cpp b/hal/src/main/native/athena/Relay.cpp index 2567ca2bf8..219ad961d7 100644 --- a/hal/src/main/native/athena/Relay.cpp +++ b/hal/src/main/native/athena/Relay.cpp @@ -93,10 +93,6 @@ HAL_Bool HAL_CheckRelayChannel(int32_t channel) { return channel < kNumRelayHeaders && channel >= 0; } -/** - * Set the state of a relay. - * Set the state of a relay output. - */ void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on, int32_t* status) { auto port = relayHandles->Get(relayPortHandle); @@ -127,9 +123,6 @@ void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on, } } -/** - * Get the current state of the relay channel - */ HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status) { auto port = relayHandles->Get(relayPortHandle); if (port == nullptr) { diff --git a/hal/src/main/native/athena/SPI.cpp b/hal/src/main/native/athena/SPI.cpp index bdd0a1f38f..931d5ee06d 100644 --- a/hal/src/main/native/athena/SPI.cpp +++ b/hal/src/main/native/athena/SPI.cpp @@ -100,11 +100,6 @@ static void CommonSPIPortFree(void) { } } -/* - * Initialize the spi port. Opens the port if necessary and saves the handle. - * If opening the MXP port, also sets up the channel functions appropriately - * @param port The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP - */ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) { hal::init::CheckInit(); if (port < 0 || port >= kSpiMaxHandles) { @@ -244,18 +239,6 @@ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status) { } } -/** - * Generic transaction. - * - * This is a lower-level interface to the spi hardware giving you more control - * over each transaction. - * - * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP - * @param dataToSend Buffer of data to send as part of the transaction. - * @param dataReceived Buffer to read data into. - * @param size Number of bytes to transfer. [0..7] - * @return Number of bytes transferred, -1 for error - */ int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend, uint8_t* dataReceived, int32_t size) { if (port < 0 || port >= kSpiMaxHandles) { @@ -274,16 +257,6 @@ int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend, return ioctl(HAL_GetSPIHandle(port), SPI_IOC_MESSAGE(1), &xfer); } -/** - * Execute a write transaction with the device. - * - * Write to a device and wait until the transaction is complete. - * - * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP - * @param datToSend The data to write to the register on the device. - * @param sendSize The number of bytes to be written - * @return The number of bytes written. -1 for an error - */ int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend, int32_t sendSize) { if (port < 0 || port >= kSpiMaxHandles) { @@ -301,19 +274,6 @@ int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend, return ioctl(HAL_GetSPIHandle(port), SPI_IOC_MESSAGE(1), &xfer); } -/** - * Execute a read from the device. - * - * This method does not write any data out to the device - * Most spi devices will require a register address to be written before - * they begin returning data - * - * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP - * @param buffer A pointer to the array of bytes to store the data read from the - * device. - * @param count The number of bytes to read in the transaction. [1..7] - * @return Number of bytes read. -1 for error. - */ int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count) { if (port < 0 || port >= kSpiMaxHandles) { return -1; @@ -330,11 +290,6 @@ int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count) { return ioctl(HAL_GetSPIHandle(port), SPI_IOC_MESSAGE(1), &xfer); } -/** - * Close the SPI port - * - * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP - */ void HAL_CloseSPI(HAL_SPIPort port) { if (port < 0 || port >= kSpiMaxHandles) { return; @@ -375,12 +330,6 @@ void HAL_CloseSPI(HAL_SPIPort port) { } } -/** - * Set the clock speed for the SPI bus. - * - * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP - * @param speed The speed in Hz (0-1MHz) - */ void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed) { if (port < 0 || port >= kSpiMaxHandles) { return; @@ -390,16 +339,6 @@ void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed) { ioctl(HAL_GetSPIHandle(port), SPI_IOC_WR_MAX_SPEED_HZ, &speed); } -/** - * Set the SPI options - * - * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP - * @param msbFirst True to write the MSB first, False for LSB first - * @param sampleOnTrailing True to sample on the trailing edge, False to sample - * on the leading edge - * @param clkIdleHigh True to set the clock to active low, False to set the - * clock active high - */ void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst, HAL_Bool sampleOnTrailing, HAL_Bool clkIdleHigh) { if (port < 0 || port >= kSpiMaxHandles) { @@ -415,11 +354,6 @@ void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst, ioctl(HAL_GetSPIHandle(port), SPI_IOC_WR_MODE, &mode); } -/** - * Set the CS Active high for a SPI port - * - * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP - */ void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) { if (port < 0 || port >= kSpiMaxHandles) { *status = PARAMETER_OUT_OF_RANGE; @@ -435,11 +369,6 @@ void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status) { } } -/** - * Set the CS Active low for a SPI port - * - * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP - */ void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) { if (port < 0 || port >= kSpiMaxHandles) { *status = PARAMETER_OUT_OF_RANGE; @@ -455,12 +384,6 @@ void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status) { } } -/** - * Get the stored handle for a SPI port - * - * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP - * @return The stored handle for the SPI port. 0 represents no stored handle. - */ int32_t HAL_GetSPIHandle(HAL_SPIPort port) { if (port < 0 || port >= kSpiMaxHandles) { return 0; @@ -483,13 +406,6 @@ int32_t HAL_GetSPIHandle(HAL_SPIPort port) { } } -/** - * Set the stored handle for a SPI port - * - * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for - * MXP. - * @param handle The value of the handle for the port. - */ void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle) { if (port < 0 || port >= kSpiMaxHandles) { return; diff --git a/hal/src/main/native/athena/Threads.cpp b/hal/src/main/native/athena/Threads.cpp index 9bfb0999ef..d24c28ecdc 100644 --- a/hal/src/main/native/athena/Threads.cpp +++ b/hal/src/main/native/athena/Threads.cpp @@ -20,14 +20,6 @@ void InitializeThreads() {} extern "C" { -/** - * Get the thread priority for the specified thread. - * - * @param handle Native handle pointer to the thread to get the priority for - * @param isRealTime Set to true if thread is realtime, otherwise false - * @param status Error status variable. 0 on success - * @return The current thread priority. Scaled 1-99, with 1 being highest. - */ int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime, int32_t* status) { sched_param sch; @@ -49,31 +41,11 @@ int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime, } } -/** - * Get the thread priority for the current thread. - * - * @param handle Native handle pointer to the thread to get the priority for - * @param isRealTime Set to true if thread is realtime, otherwise false - * @param status Error status variable. 0 on success - * @return The current thread priority. Scaled 1-99, with 1 being highest. - */ int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status) { auto thread = pthread_self(); return HAL_GetThreadPriority(&thread, isRealTime, status); } -/** - * Sets the thread priority for the specified thread - * - * @param thread Reference to the thread to set the priority of - * @param realTime Set to true to set a realtime priority, false for standard - * priority - * @param priority Priority to set the thread to. Scaled 1-99, with 1 being - * highest - * @param status Error status variable. 0 on success - * - * @return The success state of setting the priority - */ HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime, int32_t priority, int32_t* status) { if (handle == nullptr) { @@ -109,18 +81,6 @@ HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime, } } -/** - * Sets the thread priority for the current thread - * - * @param thread Reference to the thread to set the priority of - * @param realTime Set to true to set a realtime priority, false for standard - * priority - * @param priority Priority to set the thread to. Scaled 1-99, with 1 being - * highest - * @param status Error status variable. 0 on success - * - * @return The success state of setting the priority - */ HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority, int32_t* status) { auto thread = pthread_self(); diff --git a/hal/src/main/native/include/HAL/Accelerometer.h b/hal/src/main/native/include/HAL/Accelerometer.h index 33c0bc4cd6..f218c95fd7 100644 --- a/hal/src/main/native/include/HAL/Accelerometer.h +++ b/hal/src/main/native/include/HAL/Accelerometer.h @@ -18,10 +18,37 @@ enum HAL_AccelerometerRange : int32_t { #ifdef __cplusplus extern "C" { #endif +/** + * Set the accelerometer to active or standby mode. It must be in standby + * mode to change any configuration. + */ void HAL_SetAccelerometerActive(HAL_Bool active); + +/** + * Set the range of values that can be measured (either 2, 4, or 8 g-forces). + * The accelerometer should be in standby mode when this is called. + */ void HAL_SetAccelerometerRange(HAL_AccelerometerRange range); + +/** + * Get the x-axis acceleration + * + * This is a floating point value in units of 1 g-force + */ double HAL_GetAccelerometerX(void); + +/** + * Get the y-axis acceleration + * + * This is a floating point value in units of 1 g-force + */ double HAL_GetAccelerometerY(void); + +/** + * Get the z-axis acceleration + * + * This is a floating point value in units of 1 g-force + */ double HAL_GetAccelerometerZ(void); #ifdef __cplusplus } // extern "C" diff --git a/hal/src/main/native/include/HAL/AnalogAccumulator.h b/hal/src/main/native/include/HAL/AnalogAccumulator.h index bb5108dc28..bcc88852b7 100644 --- a/hal/src/main/native/include/HAL/AnalogAccumulator.h +++ b/hal/src/main/native/include/HAL/AnalogAccumulator.h @@ -15,20 +15,92 @@ extern "C" { #endif +/** + * Is the channel attached to an accumulator. + * + * @param analogPortHandle Handle to the analog port. + * @return The analog channel is attached to an accumulator. + */ HAL_Bool HAL_IsAccumulatorChannel(HAL_AnalogInputHandle analogPortHandle, int32_t* status); + +/** + * Initialize the accumulator. + * + * @param analogPortHandle Handle to the analog port. + */ void HAL_InitAccumulator(HAL_AnalogInputHandle analogPortHandle, int32_t* status); + +/** + * Resets the accumulator to the initial value. + * + * @param analogPortHandle Handle to the analog port. + */ void HAL_ResetAccumulator(HAL_AnalogInputHandle analogPortHandle, int32_t* status); + +/** + * Set the center value of the accumulator. + * + * The center value is subtracted from each A/D value before it is added to the + * accumulator. This is used for the center value of devices like gyros and + * accelerometers to make integration work and to take the device offset into + * account when integrating. + * + * This center value is based on the output of the oversampled and averaged + * source from channel 1. Because of this, any non-zero oversample bits will + * affect the size of the value for this field. + * + * @param analogPortHandle Handle to the analog port. + * @param center The center value of the accumulator. + */ void HAL_SetAccumulatorCenter(HAL_AnalogInputHandle analogPortHandle, int32_t center, int32_t* status); + +/** + * Set the accumulator's deadband. + * + * @param analogPortHandle Handle to the analog port. + * @param deadband The deadband of the accumulator. + */ void HAL_SetAccumulatorDeadband(HAL_AnalogInputHandle analogPortHandle, int32_t deadband, int32_t* status); + +/** + * Read the accumulated value. + * + * Read the value that has been accumulating on channel 1. + * The accumulator is attached after the oversample and average engine. + * + * @param analogPortHandle Handle to the analog port. + * @return The 64-bit value accumulated since the last Reset(). + */ int64_t HAL_GetAccumulatorValue(HAL_AnalogInputHandle analogPortHandle, int32_t* status); + +/** + * Read the number of accumulated values. + * + * Read the count of the accumulated values since the accumulator was last + * Reset(). + * + * @param analogPortHandle Handle to the analog port. + * @return The number of times samples from the channel were accumulated. + */ int64_t HAL_GetAccumulatorCount(HAL_AnalogInputHandle analogPortHandle, int32_t* status); + +/** + * Read the accumulated value and the number of accumulated values atomically. + * + * This function reads the value and count from the FPGA atomically. + * This can be used for averaging. + * + * @param analogPortHandle Handle to the analog port. + * @param value Pointer to the 64-bit accumulated output. + * @param count Pointer to the number of accumulation cycles. + */ void HAL_GetAccumulatorOutput(HAL_AnalogInputHandle analogPortHandle, int64_t* value, int64_t* count, int32_t* status); #ifdef __cplusplus diff --git a/hal/src/main/native/include/HAL/AnalogInput.h b/hal/src/main/native/include/HAL/AnalogInput.h index e496bc289d..7ec004a3d9 100644 --- a/hal/src/main/native/include/HAL/AnalogInput.h +++ b/hal/src/main/native/include/HAL/AnalogInput.h @@ -15,34 +15,204 @@ extern "C" { #endif +/** + * Initialize the analog input port using the given port object. + * + * @param portHandle Handle to the port to initialize. + */ HAL_AnalogInputHandle HAL_InitializeAnalogInputPort(HAL_PortHandle portHandle, int32_t* status); + +/** + * @param analogPortHandle Handle to the analog port. + */ void HAL_FreeAnalogInputPort(HAL_AnalogInputHandle analogPortHandle); + +/** + * Check that the analog module number is valid. + * + * @param module The analog module number. + * @return Analog module is valid and present + */ HAL_Bool HAL_CheckAnalogModule(int32_t module); + +/** + * Check that the analog output channel number is value. + * Verify that the analog channel number is one of the legal channel numbers. + * Channel numbers are 0-based. + * + * @param channel The analog output channel number. + * @return Analog channel is valid + */ HAL_Bool HAL_CheckAnalogInputChannel(int32_t channel); +/** + * Set the sample rate. + * + * This is a global setting for the Athena and effects all channels. + * + * @param samplesPerSecond The number of samples per channel per second. + */ void HAL_SetAnalogSampleRate(double samplesPerSecond, int32_t* status); + +/** + * Get the current sample rate. + * + * This assumes one entry in the scan list. + * This is a global setting for the Athena and effects all channels. + * + * @return Sample rate. + */ double HAL_GetAnalogSampleRate(int32_t* status); + +/** + * Set the number of averaging bits. + * + * This sets the number of averaging bits. The actual number of averaged samples + * is 2**bits. Use averaging to improve the stability of your measurement at the + * expense of sampling rate. The averaging is done automatically in the FPGA. + * + * @param analogPortHandle Handle to the analog port to configure. + * @param bits Number of bits to average. + */ void HAL_SetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle, int32_t bits, int32_t* status); + +/** + * Get the number of averaging bits. + * + * This gets the number of averaging bits from the FPGA. The actual number of + * averaged samples is 2**bits. The averaging is done automatically in the FPGA. + * + * @param analogPortHandle Handle to the analog port to use. + * @return Bits to average. + */ int32_t HAL_GetAnalogAverageBits(HAL_AnalogInputHandle analogPortHandle, int32_t* status); + +/** + * Set the number of oversample bits. + * + * This sets the number of oversample bits. The actual number of oversampled + * values is 2**bits. Use oversampling to improve the resolution of your + * measurements at the expense of sampling rate. The oversampling is done + * automatically in the FPGA. + * + * @param analogPortHandle Handle to the analog port to use. + * @param bits Number of bits to oversample. + */ void HAL_SetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle, int32_t bits, int32_t* status); + +/** + * Get the number of oversample bits. + * + * This gets the number of oversample bits from the FPGA. The actual number of + * oversampled values is 2**bits. The oversampling is done automatically in the + * FPGA. + * + * @param analogPortHandle Handle to the analog port to use. + * @return Bits to oversample. + */ int32_t HAL_GetAnalogOversampleBits(HAL_AnalogInputHandle analogPortHandle, int32_t* status); + +/** + * Get a sample straight from the channel on this module. + * + * The sample is a 12-bit value representing the 0V to 5V range of the A/D + * converter in the module. The units are in A/D converter codes. Use + * GetVoltage() to get the analog value in calibrated units. + * + * @param analogPortHandle Handle to the analog port to use. + * @return A sample straight from the channel on this module. + */ int32_t HAL_GetAnalogValue(HAL_AnalogInputHandle analogPortHandle, int32_t* status); + +/** + * Get a sample from the output of the oversample and average engine for the + * channel. + * + * The sample is 12-bit + the value configured in SetOversampleBits(). + * The value configured in SetAverageBits() will cause this value to be averaged + * 2**bits number of samples. This is not a sliding window. The sample will not + * change until 2**(OversamplBits + AverageBits) samples have been acquired from + * the module on this channel. Use GetAverageVoltage() to get the analog value + * in calibrated units. + * + * @param analogPortHandle Handle to the analog port to use. + * @return A sample from the oversample and average engine for the channel. + */ int32_t HAL_GetAnalogAverageValue(HAL_AnalogInputHandle analogPortHandle, int32_t* status); + +/** + * Convert a voltage to a raw value for a specified channel. + * + * This process depends on the calibration of each channel, so the channel must + * be specified. + * + * @todo This assumes raw values. Oversampling not supported as is. + * + * @param analogPortHandle Handle to the analog port to use. + * @param voltage The voltage to convert. + * @return The raw value for the channel. + */ int32_t HAL_GetAnalogVoltsToValue(HAL_AnalogInputHandle analogPortHandle, double voltage, int32_t* status); + +/** + * Get a scaled sample straight from the channel on this module. + * + * The value is scaled to units of Volts using the calibrated scaling data from + * GetLSBWeight() and GetOffset(). + * + * @param analogPortHandle Handle to the analog port to use. + * @return A scaled sample straight from the channel on this module. + */ double HAL_GetAnalogVoltage(HAL_AnalogInputHandle analogPortHandle, int32_t* status); + +/** + * Get a scaled sample from the output of the oversample and average engine for + * the channel. + * + * The value is scaled to units of Volts using the calibrated scaling data from + * GetLSBWeight() and GetOffset(). Using oversampling will cause this value to + * be higher resolution, but it will update more slowly. Using averaging will + * cause this value to be more stable, but it will update more slowly. + * + * @param analogPortHandle Handle to the analog port to use. + * @return A scaled sample from the output of the oversample and average engine + * for the channel. + */ double HAL_GetAnalogAverageVoltage(HAL_AnalogInputHandle analogPortHandle, int32_t* status); + +/** + * Get the factory scaling least significant bit weight constant. + * The least significant bit weight constant for the channel that was calibrated + * in manufacturing and stored in an eeprom in the module. + * + * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) + * + * @param analogPortHandle Handle to the analog port to use. + * @return Least significant bit weight. + */ int32_t HAL_GetAnalogLSBWeight(HAL_AnalogInputHandle analogPortHandle, int32_t* status); + +/** + * Get the factory scaling offset constant. + * The offset constant for the channel that was calibrated in manufacturing and + * stored in an eeprom in the module. + * + * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) + * + * @param analogPortHandle Handle to the analog port to use. + * @return Offset constant. + */ int32_t HAL_GetAnalogOffset(HAL_AnalogInputHandle analogPortHandle, int32_t* status); #ifdef __cplusplus diff --git a/hal/src/main/native/include/HAL/AnalogOutput.h b/hal/src/main/native/include/HAL/AnalogOutput.h index 3cfd4ecaff..6254a3ed39 100644 --- a/hal/src/main/native/include/HAL/AnalogOutput.h +++ b/hal/src/main/native/include/HAL/AnalogOutput.h @@ -15,13 +15,27 @@ extern "C" { #endif +/** + * Initialize the analog output port using the given port object. + */ HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle, int32_t* status); + void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle); + void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle, double voltage, int32_t* status); + double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle, int32_t* status); + +/** + * Check that the analog output channel number is value. + * Verify that the analog channel number is one of the legal channel numbers. + * Channel numbers are 0-based. + * + * @return Analog channel is valid + */ HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel); #ifdef __cplusplus } // extern "C" diff --git a/hal/src/main/native/include/HAL/AnalogTrigger.h b/hal/src/main/native/include/HAL/AnalogTrigger.h index 53aab0095f..72cfbdeedf 100644 --- a/hal/src/main/native/include/HAL/AnalogTrigger.h +++ b/hal/src/main/native/include/HAL/AnalogTrigger.h @@ -28,17 +28,54 @@ void HAL_CleanAnalogTrigger(HAL_AnalogTriggerHandle analogTriggerHandle, void HAL_SetAnalogTriggerLimitsRaw(HAL_AnalogTriggerHandle analogTriggerHandle, int32_t lower, int32_t upper, int32_t* status); + +/** + * Set the upper and lower limits of the analog trigger. + * The limits are given as floating point voltage values. + */ void HAL_SetAnalogTriggerLimitsVoltage( HAL_AnalogTriggerHandle analogTriggerHandle, double lower, double upper, int32_t* status); + +/** + * Configure the analog trigger to use the averaged vs. raw values. + * If the value is true, then the averaged value is selected for the analog + * trigger, otherwise the immediate value is used. + */ void HAL_SetAnalogTriggerAveraged(HAL_AnalogTriggerHandle analogTriggerHandle, HAL_Bool useAveragedValue, int32_t* status); + +/** + * Configure the analog trigger to use a filtered value. + * The analog trigger will operate with a 3 point average rejection filter. This + * is designed to help with 360 degree pot applications for the period where the + * pot crosses through zero. + */ void HAL_SetAnalogTriggerFiltered(HAL_AnalogTriggerHandle analogTriggerHandle, HAL_Bool useFilteredValue, int32_t* status); + +/** + * Return the InWindow output of the analog trigger. + * True if the analog input is between the upper and lower limits. + * @return The InWindow output of the analog trigger. + */ HAL_Bool HAL_GetAnalogTriggerInWindow( HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status); + +/** + * Return the TriggerState output of the analog trigger. + * True if above upper limit. + * False if below lower limit. + * If in Hysteresis, maintain previous state. + * @return The TriggerState output of the analog trigger. + */ HAL_Bool HAL_GetAnalogTriggerTriggerState( HAL_AnalogTriggerHandle analogTriggerHandle, int32_t* status); + +/** + * Get the state of the analog trigger output. + * @return The state of the analog trigger output. + */ HAL_Bool HAL_GetAnalogTriggerOutput(HAL_AnalogTriggerHandle analogTriggerHandle, HAL_AnalogTriggerType type, int32_t* status); diff --git a/hal/src/main/native/include/HAL/Counter.h b/hal/src/main/native/include/HAL/Counter.h index cee8dbbd56..cc7a1a2797 100644 --- a/hal/src/main/native/include/HAL/Counter.h +++ b/hal/src/main/native/include/HAL/Counter.h @@ -27,45 +27,174 @@ HAL_CounterHandle HAL_InitializeCounter(HAL_Counter_Mode mode, int32_t* index, void HAL_FreeCounter(HAL_CounterHandle counterHandle, int32_t* status); void HAL_SetCounterAverageSize(HAL_CounterHandle counterHandle, int32_t size, int32_t* status); + +/** + * Set the source object that causes the counter to count up. + * Set the up counting DigitalSource. + */ void HAL_SetCounterUpSource(HAL_CounterHandle counterHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, int32_t* status); + +/** + * Set the edge sensitivity on an up counting source. + * Set the up source to either detect rising edges or falling edges. + */ void HAL_SetCounterUpSourceEdge(HAL_CounterHandle counterHandle, HAL_Bool risingEdge, HAL_Bool fallingEdge, int32_t* status); + +/** + * Disable the up counting source to the counter. + */ void HAL_ClearCounterUpSource(HAL_CounterHandle counterHandle, int32_t* status); + +/** + * Set the source object that causes the counter to count down. + * Set the down counting DigitalSource. + */ void HAL_SetCounterDownSource(HAL_CounterHandle counterHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, int32_t* status); + +/** + * Set the edge sensitivity on a down counting source. + * Set the down source to either detect rising edges or falling edges. + */ void HAL_SetCounterDownSourceEdge(HAL_CounterHandle counterHandle, HAL_Bool risingEdge, HAL_Bool fallingEdge, int32_t* status); + +/** + * Disable the down counting source to the counter. + */ void HAL_ClearCounterDownSource(HAL_CounterHandle counterHandle, int32_t* status); + +/** + * Set standard up / down counting mode on this counter. + * Up and down counts are sourced independently from two inputs. + */ void HAL_SetCounterUpDownMode(HAL_CounterHandle counterHandle, int32_t* status); + +/** + * Set standard up / down counting mode on this counter. + * Up and down counts are sourced independently from two inputs. + */ void HAL_SetCounterExternalDirectionMode(HAL_CounterHandle counterHandle, int32_t* status); + +/** + * Set Semi-period mode on this counter. + * Counts up on both rising and falling edges. + */ void HAL_SetCounterSemiPeriodMode(HAL_CounterHandle counterHandle, HAL_Bool highSemiPeriod, int32_t* status); + +/** + * Configure the counter to count in up or down based on the length of the input + * pulse. + * This mode is most useful for direction sensitive gear tooth sensors. + * @param threshold The pulse length beyond which the counter counts the + * opposite direction. Units are seconds. + */ void HAL_SetCounterPulseLengthMode(HAL_CounterHandle counterHandle, double threshold, int32_t* status); + +/** + * 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) + */ int32_t HAL_GetCounterSamplesToAverage(HAL_CounterHandle counterHandle, int32_t* status); + +/** + * 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. + */ void HAL_SetCounterSamplesToAverage(HAL_CounterHandle counterHandle, int32_t samplesToAverage, int32_t* status); + +/** + * Reset the Counter to zero. + * Set the counter value to zero. This doesn't effect the running state of the + * counter, just sets the current value to zero. + */ void HAL_ResetCounter(HAL_CounterHandle counterHandle, int32_t* status); + +/** + * Read the current counter value. + * Read the value at this instant. It may still be running, so it reflects the + * current value. Next time it is read, it might have a different value. + */ int32_t HAL_GetCounter(HAL_CounterHandle counterHandle, int32_t* status); + +/* + * Get the Period of the most recent count. + * Returns the time interval of the most recent count. This can be used for + * velocity calculations to determine shaft speed. + * @returns The period of the last two pulses in units of seconds. + */ double HAL_GetCounterPeriod(HAL_CounterHandle counterHandle, int32_t* status); + +/** + * Set the maximum period where the device is still considered "moving". + * Sets the maximum period where the device is considered moving. This value is + * used to determine the "stopped" state of the counter using the GetStopped + * method. + * @param maxPeriod The maximum period where the counted device is considered + * moving in seconds. + */ void HAL_SetCounterMaxPeriod(HAL_CounterHandle counterHandle, double maxPeriod, int32_t* status); + +/** + * Select whether you want to continue updating the event timer output when + * there are no samples captured. The output of the event timer has a buffer of + * periods that are averaged and posted to a register on the FPGA. When the + * timer detects that the event source has stopped (based on the MaxPeriod) the + * buffer of samples to be averaged is emptied. If you enable the update when + * empty, you will be notified of the stopped source and the event time will + * report 0 samples. If you disable update when empty, the most recent average + * will remain on the output until a new sample is acquired. You will never see + * 0 samples output (except when there have been no events since an FPGA reset) + * and you will likely not see the stopped bit become true (since it is updated + * at the end of an average and there are no samples to average). + */ void HAL_SetCounterUpdateWhenEmpty(HAL_CounterHandle counterHandle, HAL_Bool enabled, int32_t* status); + +/** + * Determine if the clock is stopped. + * Determine if the clocked input is stopped based on the MaxPeriod value set + * using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the + * device (and counter) are assumed to be stopped and it returns true. + * @return Returns true if the most recent counter period exceeds the MaxPeriod + * value set by SetMaxPeriod. + */ HAL_Bool HAL_GetCounterStopped(HAL_CounterHandle counterHandle, int32_t* status); + +/** + * The last direction the counter value changed. + * @return The last direction the counter value changed. + */ HAL_Bool HAL_GetCounterDirection(HAL_CounterHandle counterHandle, int32_t* status); + +/** + * Set the Counter to return reversed sensing on the direction. + * This allows counters to change the direction they are counting in the case of + * 1X and 2X quadrature encoding only. Any other counter mode isn't supported. + * @param reverseDirection true if the value counted should be negated. + */ void HAL_SetCounterReverseDirection(HAL_CounterHandle counterHandle, HAL_Bool reverseDirection, int32_t* status); #ifdef __cplusplus diff --git a/hal/src/main/native/include/HAL/DIO.h b/hal/src/main/native/include/HAL/DIO.h index 26ce1c7bb9..de53f3c199 100644 --- a/hal/src/main/native/include/HAL/DIO.h +++ b/hal/src/main/native/include/HAL/DIO.h @@ -15,32 +15,169 @@ extern "C" { #endif +/** + * Create a new instance of a digital port. + */ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle, HAL_Bool input, int32_t* status); + HAL_Bool HAL_CheckDIOChannel(int32_t channel); + void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle); + +/** + * Allocate a DO PWM Generator. + * Allocate PWM generators so that they are not accidentally reused. + * + * @return PWM Generator handle + */ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status); + +/** + * Free the resource associated with a DO PWM generator. + * + * @param pwmGenerator The pwmGen to free that was allocated with + * allocateDigitalPWM() + */ void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status); + +/** + * Change the frequency of the DO PWM generator. + * + * The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is + * logarithmic. + * + * @param rate The frequency to output all digital output PWM signals. + */ void HAL_SetDigitalPWMRate(double rate, int32_t* status); + +/** + * Configure the duty-cycle of the PWM generator + * + * @param pwmGenerator The generator index reserved by allocateDigitalPWM() + * @param dutyCycle The percent duty cycle to output [0..1]. + */ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator, double dutyCycle, int32_t* status); + +/** + * Configure which DO channel the PWM signal is output on + * + * @param pwmGenerator The generator index reserved by allocateDigitalPWM() + * @param channel The Digital Output channel to output on + */ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator, int32_t channel, int32_t* status); + +/** + * Write a digital I/O bit to the FPGA. + * Set a single value on a digital I/O channel. + * + * @param channel The Digital I/O channel + * @param value The state to set the digital channel (if it is configured as an + * output) + */ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value, int32_t* status); + +/** + * Set direction of a DIO channel. + * + * @param channel The Digital I/O channel + * @param input true to set input, false for output + */ void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input, int32_t* status); + +/** + * Read a digital I/O bit from the FPGA. + * Get a single value from a digital I/O channel. + * + * @param channel The digital I/O channel + * @return The state of the specified channel + */ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status); + +/** + * Read the direction of a the Digital I/O lines + * A 1 bit means output and a 0 bit means input. + * + * @param channel The digital I/O channel + * @return The direction of the specified channel + */ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status); + +/** + * Generate a single pulse. + * Write a pulse to the specified digital output channel. There can only be a + * single pulse going at any time. + * + * @param channel The Digital Output channel that the pulse should be output on + * @param pulseLength The active length of the pulse (in seconds) + */ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength, int32_t* status); + +/** + * Check a DIO line to see if it is currently generating a pulse. + * + * @return A pulse is in progress + */ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status); + +/** + * Check if any DIO line is currently generating a pulse. + * + * @return A pulse on some line is in progress + */ HAL_Bool HAL_IsAnyPulsing(int32_t* status); +/** + * Write the filter index from the FPGA. + * Set the filter index used to filter out short pulses. + * + * @param dioPortHandle Handle to the digital I/O channel + * @param filterIndex The filter index. Must be in the range 0 - 3, where 0 + * means "none" and 1 - 3 means filter # filterIndex - 1. + */ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex, int32_t* status); + +/** + * Read the filter index from the FPGA. + * Get the filter index used to filter out short pulses. + * + * @param dioPortHandle Handle to the digital I/O channel + * @return filterIndex The filter index. Must be in the range 0 - 3, + * where 0 means "none" and 1 - 3 means filter # filterIndex - 1. + */ int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status); + +/** + * Set the filter period for the specified filter index. + * + * Set the filter period in FPGA cycles. Even though there are 2 different + * filter index domains (MXP vs HDR), ignore that distinction for now since it + * compilicates the interface. That can be changed later. + * + * @param filterIndex The filter index, 0 - 2. + * @param value The number of cycles that the signal must not transition to be + * counted as a transition. + */ void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status); + +/** + * Get the filter period for the specified filter index. + * + * Get the filter period in FPGA cycles. Even though there are 2 different + * filter index domains (MXP vs HDR), ignore that distinction for now since it + * compilicates the interface. Set status to NiFpga_Status_SoftwareFault if the + * filter values miss-match. + * + * @param filterIndex The filter index, 0 - 2. + * @param value The number of cycles that the signal must not transition to be + * counted as a transition. + */ int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status); #ifdef __cplusplus } // extern "C" diff --git a/hal/src/main/native/include/HAL/DriverStation.h b/hal/src/main/native/include/HAL/DriverStation.h index 427afc6684..534d68b579 100644 --- a/hal/src/main/native/include/HAL/DriverStation.h +++ b/hal/src/main/native/include/HAL/DriverStation.h @@ -108,8 +108,21 @@ int32_t HAL_GetJoystickAxes(int32_t joystickNum, HAL_JoystickAxes* axes); int32_t HAL_GetJoystickPOVs(int32_t joystickNum, HAL_JoystickPOVs* povs); int32_t HAL_GetJoystickButtons(int32_t joystickNum, HAL_JoystickButtons* buttons); + +/** + * Retrieve the Joystick Descriptor for particular slot + * @param desc [out] descriptor (data transfer object) to fill in. desc is + * filled in regardless of success. In other words, if descriptor is not + * available, desc is filled in with default values matching the init-values in + * Java and C++ Driverstation for when caller requests a too-large joystick + * index. + * + * @return error code reported from Network Comm back-end. Zero is good, + * nonzero is bad. + */ int32_t HAL_GetJoystickDescriptor(int32_t joystickNum, HAL_JoystickDescriptor* desc); + HAL_Bool HAL_GetJoystickIsXbox(int32_t joystickNum); int32_t HAL_GetJoystickType(int32_t joystickNum); char* HAL_GetJoystickName(int32_t joystickNum); @@ -124,10 +137,31 @@ void HAL_FreeMatchInfo(HAL_MatchInfo* info); #ifndef HAL_USE_LABVIEW +/** + * Releases the DS Mutex to allow proper shutdown of any threads that are + * waiting on it. + */ void HAL_ReleaseDSMutex(void); + bool HAL_IsNewControlData(void); + +/** + * Waits for the newest DS packet to arrive. Note that this is a blocking call. + */ void HAL_WaitForDSData(void); + +/** + * Waits for the newest DS packet to arrive. If timeout is <= 0, this will wait + * forever. Otherwise, it will wait until either a new packet, or the timeout + * time has passed. Returns true on new data, false on timeout. + */ HAL_Bool HAL_WaitForDSDataTimeout(double timeout); + +/** + * Call this to initialize the driver station communication. This will properly + * handle multiple calls. However note that this CANNOT be called from a library + * that interfaces with LabVIEW. + */ void HAL_InitializeDriverStation(void); void HAL_ObserveUserProgramStarting(void); diff --git a/hal/src/main/native/include/HAL/Extensions.h b/hal/src/main/native/include/HAL/Extensions.h index 1021c5dfba..f3b9d1687a 100644 --- a/hal/src/main/native/include/HAL/Extensions.h +++ b/hal/src/main/native/include/HAL/Extensions.h @@ -21,5 +21,10 @@ typedef int halsim_extension_init_func_t(void); extern "C" { int HAL_LoadOneExtension(const char* library); + +/** + * Load any extra halsim libraries provided in the HALSIM_EXTENSIONS + * environment variable. + */ int HAL_LoadExtensions(void); } // extern "C" diff --git a/hal/src/main/native/include/HAL/HAL.h b/hal/src/main/native/include/HAL/HAL.h index 2b765e5241..f2e2f438d7 100644 --- a/hal/src/main/native/include/HAL/HAL.h +++ b/hal/src/main/native/include/HAL/HAL.h @@ -51,10 +51,29 @@ extern "C" { const char* HAL_GetErrorMessage(int32_t code); +/** + * Return the FPGA Version number. + * For now, expect this to be competition year. + * @return FPGA Version number. + */ int32_t HAL_GetFPGAVersion(int32_t* status); + +/** + * Return the FPGA Revision number. + * The format of the revision is 3 numbers. + * The 12 most significant bits are the Major Revision. + * the next 8 bits are the Minor Revision. + * The 12 least significant bits are the Build Number. + * @return FPGA Revision number. + */ int64_t HAL_GetFPGARevision(int32_t* status); HAL_RuntimeType HAL_GetRuntimeType(void); + +/** + * Get the state of the "USER" button on the roboRIO + * @return true if the button is currently pressed down + */ HAL_Bool HAL_GetFPGAButton(int32_t* status); HAL_Bool HAL_GetSystemActive(int32_t* status); @@ -65,10 +84,23 @@ void HAL_BaseInitialize(int32_t* status); #ifndef HAL_USE_LABVIEW HAL_PortHandle HAL_GetPort(int32_t channel); + +/** + * @deprecated Uses module numbers + */ HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel); +/** + * Read the microsecond-resolution timer on the FPGA. + * + * @return The current time in microseconds according to the FPGA (since FPGA + * reset). + */ uint64_t HAL_GetFPGATime(int32_t* status); +/** + * Call this to start up HAL. This is required for robot programs. + */ HAL_Bool HAL_Initialize(int32_t timeout, int32_t mode); // ifdef's definition is to allow for default parameters in C++. diff --git a/hal/src/main/native/include/HAL/I2C.h b/hal/src/main/native/include/HAL/I2C.h index 290430dafd..e3750c2519 100644 --- a/hal/src/main/native/include/HAL/I2C.h +++ b/hal/src/main/native/include/HAL/I2C.h @@ -15,14 +15,59 @@ enum HAL_I2CPort : int32_t { HAL_I2C_kOnboard = 0, HAL_I2C_kMXP }; extern "C" { #endif +/** + * Initialize the I2C port. Opens the port if necessary and saves the handle. + * If opening the MXP port, also sets up the channel functions appropriately + * @param port The port to open, 0 for the on-board, 1 for the MXP. + */ void HAL_InitializeI2C(HAL_I2CPort port, int32_t* status); + +/** + * Generic transaction. + * + * This is a lower-level interface to the I2C hardware giving you more control + * over each transaction. + * + * @param dataToSend Buffer of data to send as part of the transaction. + * @param sendSize Number of bytes to send as part of the transaction. + * @param dataReceived Buffer to read data into. + * @param receiveSize Number of bytes to read from the device. + * @return >= 0 on success or -1 on transfer abort. + */ int32_t HAL_TransactionI2C(HAL_I2CPort port, int32_t deviceAddress, const uint8_t* dataToSend, int32_t sendSize, uint8_t* dataReceived, int32_t receiveSize); + +/** + * Execute a write transaction with the device. + * + * Write a single byte to a register on a device and wait until the + * transaction is complete. + * + * @param registerAddress The address of the register on the device to be + * written. + * @param data The byte to write to the register on the device. + * @return >= 0 on success or -1 on transfer abort. + */ int32_t HAL_WriteI2C(HAL_I2CPort port, int32_t deviceAddress, const uint8_t* dataToSend, int32_t sendSize); + +/** + * Execute a read transaction with the device. + * + * Read bytes from a device. + * Most I2C devices will auto-increment the register pointer internally allowing + * you to read consecutive registers on a device in a single transaction. + * + * @param registerAddress The register to read first in the transaction. + * @param count The number of bytes to read in the transaction. + * @param buffer A pointer to the array of bytes to store the data read from the + * device. + * @return >= 0 on success or -1 on transfer abort. + */ int32_t HAL_ReadI2C(HAL_I2CPort port, int32_t deviceAddress, uint8_t* buffer, int32_t count); + void HAL_CloseI2C(HAL_I2CPort port); #ifdef __cplusplus } // extern "C" diff --git a/hal/src/main/native/include/HAL/Interrupts.h b/hal/src/main/native/include/HAL/Interrupts.h index afdb4b7b8b..850b279ac2 100644 --- a/hal/src/main/native/include/HAL/Interrupts.h +++ b/hal/src/main/native/include/HAL/Interrupts.h @@ -22,16 +22,47 @@ typedef void (*HAL_InterruptHandlerFunction)(uint32_t interruptAssertedMask, HAL_InterruptHandle HAL_InitializeInterrupts(HAL_Bool watcher, int32_t* status); void* HAL_CleanInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status); +/** + * In synchronous mode, wait for the defined interrupt to occur. + * @param timeout Timeout in seconds + * @param ignorePrevious If true, ignore interrupts that happened before + * waitForInterrupt was called. + * @return The mask of interrupts that fired. + */ int64_t HAL_WaitForInterrupt(HAL_InterruptHandle interruptHandle, double timeout, HAL_Bool ignorePrevious, int32_t* status); + +/** + * Enable interrupts to occur on this input. + * Interrupts are disabled when the RequestInterrupt call is made. This gives + * time to do the setup of the other options before starting to field + * interrupts. + */ void HAL_EnableInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status); + +/** + * Disable Interrupts without without deallocating structures. + */ void HAL_DisableInterrupts(HAL_InterruptHandle interruptHandle, int32_t* status); + +/** + * Return the timestamp for the rising interrupt that occurred most recently. + * This is in the same time domain as GetClock(). + * @return Timestamp in seconds since boot. + */ double HAL_ReadInterruptRisingTimestamp(HAL_InterruptHandle interruptHandle, int32_t* status); + +/** + * Return the timestamp for the falling interrupt that occurred most recently. + * This is in the same time domain as GetClock(). + * @return Timestamp in seconds since boot. + */ double HAL_ReadInterruptFallingTimestamp(HAL_InterruptHandle interruptHandle, int32_t* status); + void HAL_RequestInterrupts(HAL_InterruptHandle interruptHandle, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, diff --git a/hal/src/main/native/include/HAL/PWM.h b/hal/src/main/native/include/HAL/PWM.h index 317449cf7c..70361584bc 100644 --- a/hal/src/main/native/include/HAL/PWM.h +++ b/hal/src/main/native/include/HAL/PWM.h @@ -36,20 +36,91 @@ void HAL_SetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, HAL_Bool eliminateDeadband, int32_t* status); HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, int32_t* status); + +/** + * Set a PWM channel to the desired value. The values range from 0 to 255 and + * the period is controlled + * by the PWM Period and MinHigh registers. + * + * @param channel The PWM channel to set. + * @param value The PWM value to set. + */ void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value, int32_t* status); + +/** + * Set a PWM channel to the desired scaled value. The values range from -1 to 1 + * and + * the period is controlled + * by the PWM Period and MinHigh registers. + * + * @param channel The PWM channel to set. + * @param value The scaled PWM value to set. + */ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed, int32_t* status); + +/** + * Set a PWM channel to the desired position value. The values range from 0 to 1 + * and + * the period is controlled + * by the PWM Period and MinHigh registers. + * + * @param channel The PWM channel to set. + * @param value The scaled PWM value to set. + */ void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double position, int32_t* status); + void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status); + +/** + * Get a value from a PWM channel. The values range from 0 to 255. + * + * @param channel The PWM channel to read from. + * @return The raw PWM value. + */ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status); + +/** + * Get a scaled value from a PWM channel. The values range from -1 to 1. + * + * @param channel The PWM channel to read from. + * @return The scaled PWM value. + */ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status); + +/** + * Get a position value from a PWM channel. The values range from 0 to 1. + * + * @param channel The PWM channel to read from. + * @return The scaled PWM value. + */ double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status); + void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status); + +/** + * Set how how often the PWM signal is squelched, thus scaling the period. + * + * @param channel The PWM channel to configure. + * @param squelchMask The 2-bit mask of outputs to squelch. + */ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, int32_t* status); + +/** + * Get the loop timing of the PWM system + * + * @return The loop time + */ int32_t HAL_GetPWMLoopTiming(int32_t* status); + +/** + * Get the pwm starting cycle time + * + * @return The pwm cycle start time. + */ uint64_t HAL_GetPWMCycleStartTime(int32_t* status); #ifdef __cplusplus } // extern "C" diff --git a/hal/src/main/native/include/HAL/Power.h b/hal/src/main/native/include/HAL/Power.h index 1cb3634fe4..280eb833a7 100644 --- a/hal/src/main/native/include/HAL/Power.h +++ b/hal/src/main/native/include/HAL/Power.h @@ -15,19 +15,74 @@ extern "C" { #endif +/** + * Get the roboRIO input voltage + */ double HAL_GetVinVoltage(int32_t* status); + +/** + * Get the roboRIO input current + */ double HAL_GetVinCurrent(int32_t* status); + +/** + * Get the 6V rail voltage + */ double HAL_GetUserVoltage6V(int32_t* status); + +/** + * Get the 6V rail current + */ double HAL_GetUserCurrent6V(int32_t* status); + +/** + * Get the active state of the 6V rail + */ HAL_Bool HAL_GetUserActive6V(int32_t* status); + +/** + * Get the fault count for the 6V rail + */ int32_t HAL_GetUserCurrentFaults6V(int32_t* status); + +/** + * Get the 5V rail voltage + */ double HAL_GetUserVoltage5V(int32_t* status); + +/** + * Get the 5V rail current + */ double HAL_GetUserCurrent5V(int32_t* status); + +/** + * Get the active state of the 5V rail + */ HAL_Bool HAL_GetUserActive5V(int32_t* status); + +/** + * Get the fault count for the 5V rail + */ int32_t HAL_GetUserCurrentFaults5V(int32_t* status); + +/** + * Get the 3.3V rail voltage + */ double HAL_GetUserVoltage3V3(int32_t* status); + +/** + * Get the 3.3V rail current + */ double HAL_GetUserCurrent3V3(int32_t* status); + +/** + * Get the active state of the 3.3V rail + */ HAL_Bool HAL_GetUserActive3V3(int32_t* status); + +/** + * Get the fault count for the 3.3V rail + */ int32_t HAL_GetUserCurrentFaults3V3(int32_t* status); #ifdef __cplusplus } // extern "C" diff --git a/hal/src/main/native/include/HAL/Relay.h b/hal/src/main/native/include/HAL/Relay.h index 6bc252686c..1538b68611 100644 --- a/hal/src/main/native/include/HAL/Relay.h +++ b/hal/src/main/native/include/HAL/Relay.h @@ -21,8 +21,16 @@ void HAL_FreeRelayPort(HAL_RelayHandle relayPortHandle); HAL_Bool HAL_CheckRelayChannel(int32_t channel); +/** + * Set the state of a relay. + * Set the state of a relay output. + */ void HAL_SetRelay(HAL_RelayHandle relayPortHandle, HAL_Bool on, int32_t* status); + +/** + * Get the current state of the relay channel + */ HAL_Bool HAL_GetRelay(HAL_RelayHandle relayPortHandle, int32_t* status); #ifdef __cplusplus } // extern "C" diff --git a/hal/src/main/native/include/HAL/SPI.h b/hal/src/main/native/include/HAL/SPI.h index c961e4e405..7508ad4034 100644 --- a/hal/src/main/native/include/HAL/SPI.h +++ b/hal/src/main/native/include/HAL/SPI.h @@ -24,36 +24,138 @@ enum HAL_SPIPort : int32_t { extern "C" { #endif +/** + * Initialize the spi port. Opens the port if necessary and saves the handle. + * If opening the MXP port, also sets up the channel functions appropriately + * @param port The number of the port to use. 0-3 for Onboard CS0-CS3, 4 for MXP + */ void HAL_InitializeSPI(HAL_SPIPort port, int32_t* status); + +/** + * Generic transaction. + * + * This is a lower-level interface to the spi hardware giving you more control + * over each transaction. + * + * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP + * @param dataToSend Buffer of data to send as part of the transaction. + * @param dataReceived Buffer to read data into. + * @param size Number of bytes to transfer. [0..7] + * @return Number of bytes transferred, -1 for error + */ int32_t HAL_TransactionSPI(HAL_SPIPort port, const uint8_t* dataToSend, uint8_t* dataReceived, int32_t size); + +/** + * Execute a write transaction with the device. + * + * Write to a device and wait until the transaction is complete. + * + * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP + * @param datToSend The data to write to the register on the device. + * @param sendSize The number of bytes to be written + * @return The number of bytes written. -1 for an error + */ int32_t HAL_WriteSPI(HAL_SPIPort port, const uint8_t* dataToSend, int32_t sendSize); + +/** + * Execute a read from the device. + * + * This method does not write any data out to the device + * Most spi devices will require a register address to be written before + * they begin returning data + * + * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP + * @param buffer A pointer to the array of bytes to store the data read from the + * device. + * @param count The number of bytes to read in the transaction. [1..7] + * @return Number of bytes read. -1 for error. + */ int32_t HAL_ReadSPI(HAL_SPIPort port, uint8_t* buffer, int32_t count); + +/** + * Close the SPI port + * + * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP + */ void HAL_CloseSPI(HAL_SPIPort port); + +/** + * Set the clock speed for the SPI bus. + * + * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP + * @param speed The speed in Hz (0-1MHz) + */ void HAL_SetSPISpeed(HAL_SPIPort port, int32_t speed); + +/** + * Set the SPI options + * + * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP + * @param msbFirst True to write the MSB first, False for LSB first + * @param sampleOnTrailing True to sample on the trailing edge, False to sample + * on the leading edge + * @param clkIdleHigh True to set the clock to active low, False to set the + * clock active high + */ void HAL_SetSPIOpts(HAL_SPIPort port, HAL_Bool msbFirst, HAL_Bool sampleOnTrailing, HAL_Bool clkIdleHigh); + +/** + * Set the CS Active high for a SPI port + * + * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP + */ void HAL_SetSPIChipSelectActiveHigh(HAL_SPIPort port, int32_t* status); + +/** + * Set the CS Active low for a SPI port + * + * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP + */ void HAL_SetSPIChipSelectActiveLow(HAL_SPIPort port, int32_t* status); + +/** + * Get the stored handle for a SPI port + * + * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for MXP + * @return The stored handle for the SPI port. 0 represents no stored handle. + */ int32_t HAL_GetSPIHandle(HAL_SPIPort port); + +/** + * Set the stored handle for a SPI port + * + * @param port The number of the port to use. 0-3 for Onboard CS0-CS2, 4 for + * MXP. + * @param handle The value of the handle for the port. + */ void HAL_SetSPIHandle(HAL_SPIPort port, int32_t handle); void HAL_InitSPIAuto(HAL_SPIPort port, int32_t bufferSize, int32_t* status); + void HAL_FreeSPIAuto(HAL_SPIPort port, int32_t* status); + void HAL_StartSPIAutoRate(HAL_SPIPort port, double period, int32_t* status); + void HAL_StartSPIAutoTrigger(HAL_SPIPort port, HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, HAL_Bool triggerRising, HAL_Bool triggerFalling, int32_t* status); + void HAL_StopSPIAuto(HAL_SPIPort port, int32_t* status); + void HAL_SetSPIAutoTransmitData(HAL_SPIPort port, const uint8_t* dataToSend, int32_t dataSize, int32_t zeroSize, int32_t* status); + void HAL_ForceSPIAutoRead(HAL_SPIPort port, int32_t* status); + int32_t HAL_ReadSPIAutoReceivedData(HAL_SPIPort port, uint8_t* buffer, int32_t numToRead, double timeout, int32_t* status); + int32_t HAL_GetSPIAutoDroppedCount(HAL_SPIPort port, int32_t* status); #ifdef __cplusplus diff --git a/hal/src/main/native/include/HAL/Threads.h b/hal/src/main/native/include/HAL/Threads.h index cb41b3bcdb..91c80279c4 100644 --- a/hal/src/main/native/include/HAL/Threads.h +++ b/hal/src/main/native/include/HAL/Threads.h @@ -18,11 +18,54 @@ #include "HAL/Types.h" extern "C" { +/** + * Get the thread priority for the specified thread. + * + * @param handle Native handle pointer to the thread to get the priority for + * @param isRealTime Set to true if thread is realtime, otherwise false + * @param status Error status variable. 0 on success + * @return The current thread priority. Scaled 1-99, with 1 being highest. + */ int32_t HAL_GetThreadPriority(NativeThreadHandle handle, HAL_Bool* isRealTime, int32_t* status); + +/** + * Get the thread priority for the current thread. + * + * @param handle Native handle pointer to the thread to get the priority for + * @param isRealTime Set to true if thread is realtime, otherwise false + * @param status Error status variable. 0 on success + * @return The current thread priority. Scaled 1-99, with 1 being highest. + */ int32_t HAL_GetCurrentThreadPriority(HAL_Bool* isRealTime, int32_t* status); + +/** + * Sets the thread priority for the specified thread + * + * @param thread Reference to the thread to set the priority of + * @param realTime Set to true to set a realtime priority, false for standard + * priority + * @param priority Priority to set the thread to. Scaled 1-99, with 1 being + * highest + * @param status Error status variable. 0 on success + * + * @return The success state of setting the priority + */ HAL_Bool HAL_SetThreadPriority(NativeThreadHandle handle, HAL_Bool realTime, int32_t priority, int32_t* status); + +/** + * Sets the thread priority for the current thread + * + * @param thread Reference to the thread to set the priority of + * @param realTime Set to true to set a realtime priority, false for standard + * priority + * @param priority Priority to set the thread to. Scaled 1-99, with 1 being + * highest + * @param status Error status variable. 0 on success + * + * @return The success state of setting the priority + */ HAL_Bool HAL_SetCurrentThreadPriority(HAL_Bool realTime, int32_t priority, int32_t* status); } // extern "C" diff --git a/hal/src/main/native/sim/DIO.cpp b/hal/src/main/native/sim/DIO.cpp index 5543e377ec..23f1f9f902 100644 --- a/hal/src/main/native/sim/DIO.cpp +++ b/hal/src/main/native/sim/DIO.cpp @@ -37,9 +37,6 @@ void InitializeDIO() { extern "C" { -/** - * Create a new instance of a digital port. - */ HAL_DigitalHandle HAL_InitializeDIOPort(HAL_PortHandle portHandle, HAL_Bool input, int32_t* status) { hal::init::CheckInit(); @@ -84,12 +81,6 @@ void HAL_FreeDIOPort(HAL_DigitalHandle dioPortHandle) { SimDIOData[port->channel].SetInitialized(true); } -/** - * Allocate a DO PWM Generator. - * Allocate PWM generators so that they are not accidentally reused. - * - * @return PWM Generator handle - */ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) { auto handle = digitalPWMHandles->Allocate(); if (handle == HAL_kInvalidHandle) { @@ -109,12 +100,6 @@ HAL_DigitalPWMHandle HAL_AllocateDigitalPWM(int32_t* status) { return handle; } -/** - * Free the resource associated with a DO PWM generator. - * - * @param pwmGenerator The pwmGen to free that was allocated with - * allocateDigitalPWM() - */ void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) { auto port = digitalPWMHandles->Get(pwmGenerator); digitalPWMHandles->Free(pwmGenerator); @@ -123,14 +108,6 @@ void HAL_FreeDigitalPWM(HAL_DigitalPWMHandle pwmGenerator, int32_t* status) { SimDigitalPWMData[id].SetInitialized(false); } -/** - * Change the frequency of the DO PWM generator. - * - * The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is - * logarithmic. - * - * @param rate The frequency to output all digital output PWM signals. - */ void HAL_SetDigitalPWMRate(double rate, int32_t* status) { // Currently rounding in the log rate domain... heavy weight toward picking a // higher freq. @@ -143,12 +120,6 @@ void HAL_SetDigitalPWMRate(double rate, int32_t* status) { // digitalSystem->writePWMPeriodPower(pwmPeriodPower, status); } -/** - * Configure the duty-cycle of the PWM generator - * - * @param pwmGenerator The generator index reserved by allocateDigitalPWM() - * @param dutyCycle The percent duty cycle to output [0..1]. - */ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator, double dutyCycle, int32_t* status) { auto port = digitalPWMHandles->Get(pwmGenerator); @@ -162,12 +133,6 @@ void HAL_SetDigitalPWMDutyCycle(HAL_DigitalPWMHandle pwmGenerator, SimDigitalPWMData[id].SetDutyCycle(dutyCycle); } -/** - * Configure which DO channel the PWM signal is output on - * - * @param pwmGenerator The generator index reserved by allocateDigitalPWM() - * @param channel The Digital Output channel to output on - */ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator, int32_t channel, int32_t* status) { auto port = digitalPWMHandles->Get(pwmGenerator); @@ -179,14 +144,6 @@ void HAL_SetDigitalPWMOutputChannel(HAL_DigitalPWMHandle pwmGenerator, SimDigitalPWMData[id].SetPin(channel); } -/** - * Write a digital I/O bit to the FPGA. - * Set a single value on a digital I/O channel. - * - * @param channel The Digital I/O channel - * @param value The state to set the digital channel (if it is configured as an - * output) - */ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); @@ -200,12 +157,6 @@ void HAL_SetDIO(HAL_DigitalHandle dioPortHandle, HAL_Bool value, SimDIOData[port->channel].SetValue(value); } -/** - * Set direction of a DIO channel. - * - * @param channel The Digital I/O channel - * @param input true to set input, false for output - */ void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); @@ -217,13 +168,6 @@ void HAL_SetDIODirection(HAL_DigitalHandle dioPortHandle, HAL_Bool input, SimDIOData[port->channel].SetIsInput(input); } -/** - * Read a digital I/O bit from the FPGA. - * Get a single value from a digital I/O channel. - * - * @param channel The digital I/O channel - * @return The state of the specified channel - */ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { @@ -236,13 +180,6 @@ HAL_Bool HAL_GetDIO(HAL_DigitalHandle dioPortHandle, int32_t* status) { return value; } -/** - * Read the direction of a the Digital I/O lines - * A 1 bit means output and a 0 bit means input. - * - * @param channel The digital I/O channel - * @return The direction of the specified channel - */ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { @@ -255,14 +192,6 @@ HAL_Bool HAL_GetDIODirection(HAL_DigitalHandle dioPortHandle, int32_t* status) { return value; } -/** - * Generate a single pulse. - * Write a pulse to the specified digital output channel. There can only be a - * single pulse going at any time. - * - * @param channel The Digital Output channel that the pulse should be output on - * @param pulseLength The active length of the pulse (in seconds) - */ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); @@ -273,11 +202,6 @@ void HAL_Pulse(HAL_DigitalHandle dioPortHandle, double pulseLength, // TODO (Thad) Add this } -/** - * Check a DIO line to see if it is currently generating a pulse. - * - * @return A pulse is in progress - */ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { @@ -288,23 +212,10 @@ HAL_Bool HAL_IsPulsing(HAL_DigitalHandle dioPortHandle, int32_t* status) { // TODO (Thad) Add this } -/** - * Check if any DIO line is currently generating a pulse. - * - * @return A pulse on some line is in progress - */ HAL_Bool HAL_IsAnyPulsing(int32_t* status) { return false; // TODO(Thad) Figure this out } -/** - * Write the filter index from the FPGA. - * Set the filter index used to filter out short pulses. - * - * @param dioPortHandle Handle to the digital I/O channel - * @param filterIndex The filter index. Must be in the range 0 - 3, where 0 - * means "none" and 1 - 3 means filter # filterIndex - 1. - */ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); @@ -316,14 +227,6 @@ void HAL_SetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t filterIndex, // TODO(Thad) Figure this out } -/** - * Read the filter index from the FPGA. - * Get the filter index used to filter out short pulses. - * - * @param dioPortHandle Handle to the digital I/O channel - * @return filterIndex The filter index. Must be in the range 0 - 3, - * where 0 means "none" and 1 - 3 means filter # filterIndex - 1. - */ int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(dioPortHandle, HAL_HandleEnum::DIO); if (port == nullptr) { @@ -334,33 +237,10 @@ int32_t HAL_GetFilterSelect(HAL_DigitalHandle dioPortHandle, int32_t* status) { // TODO(Thad) Figure this out } -/** - * Set the filter period for the specified filter index. - * - * Set the filter period in FPGA cycles. Even though there are 2 different - * filter index domains (MXP vs HDR), ignore that distinction for now since it - * compilicates the interface. That can be changed later. - * - * @param filterIndex The filter index, 0 - 2. - * @param value The number of cycles that the signal must not transition to be - * counted as a transition. - */ void HAL_SetFilterPeriod(int32_t filterIndex, int64_t value, int32_t* status) { // TODO(Thad) figure this out } -/** - * Get the filter period for the specified filter index. - * - * Get the filter period in FPGA cycles. Even though there are 2 different - * filter index domains (MXP vs HDR), ignore that distinction for now since it - * compilicates the interface. Set status to NiFpga_Status_SoftwareFault if the - * filter values miss-match. - * - * @param filterIndex The filter index, 0 - 2. - * @param value The number of cycles that the signal must not transition to be - * counted as a transition. - */ int64_t HAL_GetFilterPeriod(int32_t filterIndex, int32_t* status) { return 0; // TODO(Thad) figure this out } diff --git a/hal/src/main/native/sim/DigitalInternal.cpp b/hal/src/main/native/sim/DigitalInternal.cpp index 2c1ce47309..50454a36b5 100644 --- a/hal/src/main/native/sim/DigitalInternal.cpp +++ b/hal/src/main/native/sim/DigitalInternal.cpp @@ -28,26 +28,6 @@ void InitializeDigitalInternal() { } } // namespace init -/** - * Map DIO channel numbers from their physical number (10 to 26) to their - * position in the bit field. - */ -int32_t remapMXPChannel(int32_t channel) { return channel - 10; } - -int32_t remapMXPPWMChannel(int32_t channel) { - if (channel < 14) { - return channel - 10; // first block of 4 pwms (MXP 0-3) - } else { - return channel - 6; // block of PWMs after SPI - } -} - -/** - * remap the digital source channel and set the module. - * If it's an analog trigger, determine the module from the high order routing - * channel else do normal digital input remapping based on channel number - * (MXP) - */ bool remapDigitalSource(HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, uint8_t& channel, uint8_t& module, @@ -75,6 +55,16 @@ bool remapDigitalSource(HAL_Handle digitalSourceHandle, } } +int32_t remapMXPChannel(int32_t channel) { return channel - 10; } + +int32_t remapMXPPWMChannel(int32_t channel) { + if (channel < 14) { + return channel - 10; // first block of 4 pwms (MXP 0-3) + } else { + return channel - 6; // block of PWMs after SPI + } +} + int32_t GetDigitalInputChannel(HAL_DigitalHandle handle, int32_t* status) { auto digital = digitalChannelHandles->Get(handle, HAL_HandleEnum::DIO); if (digital == nullptr) { diff --git a/hal/src/main/native/sim/DigitalInternal.h b/hal/src/main/native/sim/DigitalInternal.h index 053eb0bec7..bebcfdf597 100644 --- a/hal/src/main/native/sim/DigitalInternal.h +++ b/hal/src/main/native/sim/DigitalInternal.h @@ -70,11 +70,24 @@ extern DigitalHandleResource* digitalChannelHandles; +/** + * Remap the digital source channel and set the module. + * + * If it's an analog trigger, determine the module from the high order routing + * channel else do normal digital input remapping based on channel number + * (MXP). + */ bool remapDigitalSource(HAL_Handle digitalSourceHandle, HAL_AnalogTriggerType analogTriggerType, uint8_t& channel, uint8_t& module, bool& analogTrigger); -int32_t remapMXPPWMChannel(int32_t channel); + +/** + * Map DIO channel numbers from their physical number (10 to 26) to their + * position in the bit field. + */ int32_t remapMXPChannel(int32_t channel); +int32_t remapMXPPWMChannel(int32_t channel); + int32_t GetDigitalInputChannel(HAL_DigitalHandle handle, int32_t* status); } // namespace hal diff --git a/hal/src/main/native/sim/DriverStation.cpp b/hal/src/main/native/sim/DriverStation.cpp index 4b59cd6092..7a57e94e9a 100644 --- a/hal/src/main/native/sim/DriverStation.cpp +++ b/hal/src/main/native/sim/DriverStation.cpp @@ -124,17 +124,7 @@ int32_t HAL_GetJoystickButtons(int32_t joystickNum, SimDriverStationData->GetJoystickButtons(joystickNum, buttons); return 0; } -/** - * Retrieve the Joystick Descriptor for particular slot - * @param desc [out] descriptor (data transfer object) to fill in. desc is - * filled in regardless of success. In other words, if descriptor is not - * available, desc is filled in with default values matching the init-values in - * Java and C++ Driverstation for when caller requests a too-large joystick - * index. - * - * @return error code reported from Network Comm back-end. Zero is good, - * nonzero is bad. - */ + int32_t HAL_GetJoystickDescriptor(int32_t joystickNum, HAL_JoystickDescriptor* desc) { SimDriverStationData->GetJoystickDescriptor(joystickNum, desc); @@ -241,16 +231,8 @@ bool HAL_IsNewControlData(void) { return true; } -/** - * Waits for the newest DS packet to arrive. Note that this is a blocking call. - */ void HAL_WaitForDSData(void) { HAL_WaitForDSDataTimeout(0); } -/** - * Waits for the newest DS packet to arrive. If timeout is <= 0, this will wait - * forever. Otherwise, it will wait until either a new packet, or the timeout - * time has passed. Returns true on new data, false on timeout. - */ HAL_Bool HAL_WaitForDSDataTimeout(double timeout) { auto timeoutTime = std::chrono::steady_clock::now() + std::chrono::duration(timeout); @@ -284,11 +266,6 @@ static int32_t newDataOccur(uint32_t refNum) { return 0; } -/* - * Call this to initialize the driver station communication. This will properly - * handle multiple calls. However note that this CANNOT be called from a library - * that interfaces with LabVIEW. - */ void HAL_InitializeDriverStation(void) { hal::init::CheckInit(); static std::atomic_bool initialized{false}; @@ -305,10 +282,6 @@ void HAL_InitializeDriverStation(void) { initialized = true; } -/* - * Releases the DS Mutex to allow proper shutdown of any threads that are - * waiting on it. - */ void HAL_ReleaseDSMutex(void) { newDataOccur(refNumber); } } // extern "C" diff --git a/hal/src/main/native/sim/Extensions.cpp b/hal/src/main/native/sim/Extensions.cpp index 6aeaeafe1c..1ef52f07f0 100644 --- a/hal/src/main/native/sim/Extensions.cpp +++ b/hal/src/main/native/sim/Extensions.cpp @@ -67,10 +67,6 @@ int HAL_LoadOneExtension(const char* library) { return rc; } -/** - * Load any extra halsim libraries provided in the HALSIM_EXTENSIONS - * environment variable. - */ int HAL_LoadExtensions(void) { int rc = 1; wpi::SmallVector libraries; diff --git a/hal/src/main/native/sim/HAL.cpp b/hal/src/main/native/sim/HAL.cpp index 66c24b1839..cd114470da 100644 --- a/hal/src/main/native/sim/HAL.cpp +++ b/hal/src/main/native/sim/HAL.cpp @@ -83,9 +83,6 @@ HAL_PortHandle HAL_GetPort(int32_t channel) { return createPortHandle(channel, 1); } -/** - * @deprecated Uses module numbers - */ HAL_PortHandle HAL_GetPortWithModule(int32_t module, int32_t channel) { // Dont allow a number that wouldn't fit in a uint8_t if (channel < 0 || channel >= 255) return HAL_kInvalidHandle; @@ -204,44 +201,18 @@ const char* HAL_GetErrorMessage(int32_t code) { } } -/** - * Returns the runtime type of this HAL - */ HAL_RuntimeType HAL_GetRuntimeType(void) { return HAL_Mock; } -/** - * Return the FPGA Version number. - * For now, expect this to be competition year. - * @return FPGA Version number. - */ int32_t HAL_GetFPGAVersion(int32_t* status) { return 2018; // Automatically script this at some point } -/** - * Return the FPGA Revision number. - * The format of the revision is 3 numbers. - * The 12 most significant bits are the Major Revision. - * the next 8 bits are the Minor Revision. - * The 12 least significant bits are the Build Number. - * @return FPGA Revision number. - */ int64_t HAL_GetFPGARevision(int32_t* status) { return 0; // TODO: Find a better number to return; } -/** - * Read the microsecond-resolution timer on the FPGA. - * - * @return The current time in microseconds according to the FPGA (since FPGA - * reset). - */ uint64_t HAL_GetFPGATime(int32_t* status) { return hal::GetFPGATime(); } -/** - * Get the state of the "USER" button on the roboRIO - * @return true if the button is currently pressed down - */ HAL_Bool HAL_GetFPGAButton(int32_t* status) { return SimRoboRioData[0].GetFPGAButton(); } diff --git a/hal/src/main/native/sim/PWM.cpp b/hal/src/main/native/sim/PWM.cpp index 1fc2aa4b56..fa6488150a 100644 --- a/hal/src/main/native/sim/PWM.cpp +++ b/hal/src/main/native/sim/PWM.cpp @@ -166,14 +166,6 @@ HAL_Bool HAL_GetPWMEliminateDeadband(HAL_DigitalHandle pwmPortHandle, return port->eliminateDeadband; } -/** - * Set a PWM channel to the desired value. The values range from 0 to 255 and - * the period is controlled - * by the PWM Period and MinHigh registers. - * - * @param channel The PWM channel to set. - * @param value The PWM value to set. - */ void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); @@ -185,15 +177,6 @@ void HAL_SetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t value, SimPWMData[port->channel].SetRawValue(value); } -/** - * Set a PWM channel to the desired scaled value. The values range from -1 to 1 - * and - * the period is controlled - * by the PWM Period and MinHigh registers. - * - * @param channel The PWM channel to set. - * @param value The scaled PWM value to set. - */ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); @@ -215,15 +198,6 @@ void HAL_SetPWMSpeed(HAL_DigitalHandle pwmPortHandle, double speed, SimPWMData[port->channel].SetSpeed(speed); } -/** - * Set a PWM channel to the desired position value. The values range from 0 to 1 - * and - * the period is controlled - * by the PWM Period and MinHigh registers. - * - * @param channel The PWM channel to set. - * @param value The scaled PWM value to set. - */ void HAL_SetPWMPosition(HAL_DigitalHandle pwmPortHandle, double pos, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); @@ -256,12 +230,6 @@ void HAL_SetPWMDisabled(HAL_DigitalHandle pwmPortHandle, int32_t* status) { SimPWMData[port->channel].SetSpeed(0); } -/** - * Get a value from a PWM channel. The values range from 0 to 255. - * - * @param channel The PWM channel to read from. - * @return The raw PWM value. - */ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { @@ -272,12 +240,6 @@ int32_t HAL_GetPWMRaw(HAL_DigitalHandle pwmPortHandle, int32_t* status) { return SimPWMData[port->channel].GetRawValue(); } -/** - * Get a scaled value from a PWM channel. The values range from -1 to 1. - * - * @param channel The PWM channel to read from. - * @return The scaled PWM value. - */ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { @@ -295,12 +257,6 @@ double HAL_GetPWMSpeed(HAL_DigitalHandle pwmPortHandle, int32_t* status) { return speed; } -/** - * Get a position value from a PWM channel. The values range from 0 to 1. - * - * @param channel The PWM channel to read from. - * @return The scaled PWM value. - */ double HAL_GetPWMPosition(HAL_DigitalHandle pwmPortHandle, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); if (port == nullptr) { @@ -329,12 +285,6 @@ void HAL_LatchPWMZero(HAL_DigitalHandle pwmPortHandle, int32_t* status) { SimPWMData[port->channel].SetZeroLatch(false); } -/** - * Set how how often the PWM signal is squelched, thus scaling the period. - * - * @param channel The PWM channel to configure. - * @param squelchMask The 2-bit mask of outputs to squelch. - */ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, int32_t* status) { auto port = digitalChannelHandles->Get(pwmPortHandle, HAL_HandleEnum::PWM); @@ -346,17 +296,7 @@ void HAL_SetPWMPeriodScale(HAL_DigitalHandle pwmPortHandle, int32_t squelchMask, SimPWMData[port->channel].SetPeriodScale(squelchMask); } -/** - * Get the loop timing of the PWM system - * - * @return The loop time - */ int32_t HAL_GetPWMLoopTiming(int32_t* status) { return kExpectedLoopTiming; } -/** - * Get the pwm starting cycle time - * - * @return The pwm cycle start time. - */ uint64_t HAL_GetPWMCycleStartTime(int32_t* status) { return 0; } } // extern "C" diff --git a/simulation/halsim_print/src/main/native/cpp/main.cpp b/simulation/halsim_print/src/main/native/cpp/main.cpp index 5f83b0638c..e86b4c36d2 100644 --- a/simulation/halsim_print/src/main/native/cpp/main.cpp +++ b/simulation/halsim_print/src/main/native/cpp/main.cpp @@ -12,10 +12,8 @@ #include "HALSimPrint.h" #include "PrintPWM.h" -/** - * Currently, robots never terminate, so we keep a single static object - * and it is never properly released or cleaned up. - */ +// Currently, robots never terminate, so we keep a single static object and it +// is never properly released or cleaned up. static HALSimPrint halsim; extern "C" { diff --git a/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp b/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp index 3e1897acd8..a586cfdbfa 100644 --- a/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp +++ b/wpilibc/src/main/native/cpp/ADXL345_I2C.cpp @@ -13,13 +13,6 @@ using namespace frc; -/** - * Constructs the ADXL345 Accelerometer over I2C. - * - * @param port The I2C port the accelerometer is attached to - * @param range The range (+ or -) that the accelerometer will measure - * @param deviceAddress The I2C address of the accelerometer (0x1D or 0x53) - */ ADXL345_I2C::ADXL345_I2C(I2C::Port port, Range range, int deviceAddress) : m_i2c(port, deviceAddress) { // Turn on the measurements @@ -43,12 +36,6 @@ double ADXL345_I2C::GetY() { return GetAcceleration(kAxis_Y); } double ADXL345_I2C::GetZ() { return GetAcceleration(kAxis_Z); } -/** - * Get the acceleration of one axis in Gs. - * - * @param axis The axis to read from. - * @return Acceleration of the ADXL345 in Gs. - */ double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) { int16_t rawAccel = 0; m_i2c.Read(kDataRegister + static_cast(axis), sizeof(rawAccel), @@ -56,12 +43,6 @@ double ADXL345_I2C::GetAcceleration(ADXL345_I2C::Axes axis) { return rawAccel * kGsPerLSB; } -/** - * Get the acceleration of all axes in Gs. - * - * @return An object containing the acceleration measured on each axis of the - * ADXL345 in Gs. - */ ADXL345_I2C::AllAxes ADXL345_I2C::GetAccelerations() { AllAxes data = AllAxes(); int16_t rawData[3]; diff --git a/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp b/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp index 063f5b700a..2b6cd70383 100644 --- a/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp +++ b/wpilibc/src/main/native/cpp/ADXL345_SPI.cpp @@ -13,12 +13,6 @@ using namespace frc; -/** - * Constructor. - * - * @param port The SPI port the accelerometer is attached to - * @param range The range (+ or -) that the accelerometer will measure - */ ADXL345_SPI::ADXL345_SPI(SPI::Port port, ADXL345_SPI::Range range) : m_spi(port) { m_spi.SetClockRate(500000); @@ -56,12 +50,6 @@ double ADXL345_SPI::GetY() { return GetAcceleration(kAxis_Y); } double ADXL345_SPI::GetZ() { return GetAcceleration(kAxis_Z); } -/** - * Get the acceleration of one axis in Gs. - * - * @param axis The axis to read from. - * @return Acceleration of the ADXL345 in Gs. - */ double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis) { uint8_t buffer[3]; uint8_t command[3] = {0, 0, 0}; @@ -74,12 +62,6 @@ double ADXL345_SPI::GetAcceleration(ADXL345_SPI::Axes axis) { return rawAccel * kGsPerLSB; } -/** - * Get the acceleration of all axes in Gs. - * - * @return An object containing the acceleration measured on each axis of the - * ADXL345 in Gs. - */ ADXL345_SPI::AllAxes ADXL345_SPI::GetAccelerations() { AllAxes data = AllAxes(); uint8_t dataBuffer[7] = {0, 0, 0, 0, 0, 0, 0}; diff --git a/wpilibc/src/main/native/cpp/ADXL362.cpp b/wpilibc/src/main/native/cpp/ADXL362.cpp index 14fffccb3d..a5fccdaf0a 100644 --- a/wpilibc/src/main/native/cpp/ADXL362.cpp +++ b/wpilibc/src/main/native/cpp/ADXL362.cpp @@ -31,19 +31,8 @@ static constexpr int kPowerCtl_UltraLowNoise = 0x20; // static constexpr int kPowerCtl_AutoSleep = 0x04; static constexpr int kPowerCtl_Measure = 0x02; -/** - * Constructor. Uses the onboard CS1. - * - * @param range The range (+ or -) that the accelerometer will measure. - */ ADXL362::ADXL362(Range range) : ADXL362(SPI::Port::kOnboardCS1, range) {} -/** - * Constructor. - * - * @param port The SPI port the accelerometer is attached to - * @param range The range (+ or -) that the accelerometer will measure. - */ ADXL362::ADXL362(SPI::Port port, Range range) : m_spi(port) { m_spi.SetClockRate(3000000); m_spi.SetMSBFirst(); @@ -108,12 +97,6 @@ double ADXL362::GetY() { return GetAcceleration(kAxis_Y); } double ADXL362::GetZ() { return GetAcceleration(kAxis_Z); } -/** - * Get the acceleration of one axis in Gs. - * - * @param axis The axis to read from. - * @return Acceleration of the ADXL362 in Gs. - */ double ADXL362::GetAcceleration(ADXL362::Axes axis) { if (m_gsPerLSB == 0.0) return 0.0; @@ -128,12 +111,6 @@ double ADXL362::GetAcceleration(ADXL362::Axes axis) { return rawAccel * m_gsPerLSB; } -/** - * Get the acceleration of all axes in Gs. - * - * @return An object containing the acceleration measured on each axis of the - * ADXL362 in Gs. - */ ADXL362::AllAxes ADXL362::GetAccelerations() { AllAxes data = AllAxes(); if (m_gsPerLSB == 0.0) { diff --git a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp index b765855590..59fab01da9 100644 --- a/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp +++ b/wpilibc/src/main/native/cpp/ADXRS450_Gyro.cpp @@ -28,39 +28,8 @@ static constexpr int kPIDRegister = 0x0C; static constexpr int kSNHighRegister = 0x0E; static constexpr int kSNLowRegister = 0x10; -/** - * Initialize the gyro. - * - * Calibrate the gyro by running for a number of samples and computing the - * center value. Then use the center value as the Accumulator center value for - * subsequent measurements. - * - * It's important to make sure that the robot is not moving while the centering - * calculations are in progress, this is typically done when the robot is first - * turned on while it's sitting at rest before the competition starts. - */ -void ADXRS450_Gyro::Calibrate() { - Wait(0.1); - - m_spi.SetAccumulatorCenter(0); - m_spi.ResetAccumulator(); - - Wait(kCalibrationSampleTime); - - m_spi.SetAccumulatorCenter(static_cast(m_spi.GetAccumulatorAverage())); - m_spi.ResetAccumulator(); -} - -/** - * Gyro constructor on onboard CS0. - */ ADXRS450_Gyro::ADXRS450_Gyro() : ADXRS450_Gyro(SPI::kOnboardCS0) {} -/** - * Gyro constructor on the specified SPI port. - * - * @param port The SPI port the gyro is attached to. - */ ADXRS450_Gyro::ADXRS450_Gyro(SPI::Port port) : m_spi(port) { m_spi.SetClockRate(3000000); m_spi.SetMSBFirst(); @@ -116,39 +85,25 @@ uint16_t ADXRS450_Gyro::ReadRegister(int reg) { return static_cast((BytesToIntBE(buf) >> 5) & 0xffff); } -/** - * Reset the gyro. - * - * Resets the gyro to a heading of zero. This can be used if there is - * significant drift in the gyro and it needs to be recalibrated after it has - * been running. - */ -void ADXRS450_Gyro::Reset() { m_spi.ResetAccumulator(); } - -/** - * Return the actual angle in degrees that the robot is currently facing. - * - * The angle is based on the current accumulator value corrected by the - * oversampling rate, the gyro type and the A/D calibration values. - * The angle is continuous, that is it will continue from 360->361 degrees. This - * allows algorithms that wouldn't want to see a discontinuity in the gyro - * output as it sweeps from 360 to 0 on the second time around. - * - * @return the current heading of the robot in degrees. This heading is based on - * integration of the returned rate from the gyro. - */ double ADXRS450_Gyro::GetAngle() const { return m_spi.GetAccumulatorValue() * kDegreePerSecondPerLSB * kSamplePeriod; } -/** - * Return the rate of rotation of the gyro - * - * The rate is based on the most recent reading of the gyro analog value - * - * @return the current rate in degrees per second - */ double ADXRS450_Gyro::GetRate() const { return static_cast(m_spi.GetAccumulatorLastValue()) * kDegreePerSecondPerLSB; } + +void ADXRS450_Gyro::Reset() { m_spi.ResetAccumulator(); } + +void ADXRS450_Gyro::Calibrate() { + Wait(0.1); + + m_spi.SetAccumulatorCenter(0); + m_spi.ResetAccumulator(); + + Wait(kCalibrationSampleTime); + + m_spi.SetAccumulatorCenter(static_cast(m_spi.GetAccumulatorAverage())); + m_spi.ResetAccumulator(); +} diff --git a/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp b/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp index 75663fa5f1..83ec57a6bb 100644 --- a/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp +++ b/wpilibc/src/main/native/cpp/AnalogAccelerometer.cpp @@ -14,38 +14,11 @@ using namespace frc; -/** - * Common function for initializing the accelerometer. - */ -void AnalogAccelerometer::InitAccelerometer() { - HAL_Report(HALUsageReporting::kResourceType_Accelerometer, - m_analogInput->GetChannel()); - SetName("Accelerometer", m_analogInput->GetChannel()); -} - -/** - * Create a new instance of an accelerometer. - * - * The constructor allocates desired analog input. - * - * @param channel The channel number for the analog input the accelerometer is - * connected to - */ AnalogAccelerometer::AnalogAccelerometer(int channel) : AnalogAccelerometer(std::make_shared(channel)) { AddChild(m_analogInput); } -/** - * Create a new instance of Accelerometer from an existing AnalogInput. - * - * Make a new instance of accelerometer given an AnalogInput. This is - * particularly useful if the port is going to be read as an analog channel as - * well as through the Accelerometer class. - * - * @param channel The existing AnalogInput object for the analog input the - * accelerometer is connected to - */ AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel) : m_analogInput(channel, NullDeleter()) { if (channel == nullptr) { @@ -55,16 +28,6 @@ AnalogAccelerometer::AnalogAccelerometer(AnalogInput* channel) } } -/** - * Create a new instance of Accelerometer from an existing AnalogInput. - * - * Make a new instance of accelerometer given an AnalogInput. This is - * particularly useful if the port is going to be read as an analog channel as - * well as through the Accelerometer class. - * - * @param channel The existing AnalogInput object for the analog input the - * accelerometer is connected to - */ AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr channel) : m_analogInput(channel) { if (channel == nullptr) { @@ -74,45 +37,16 @@ AnalogAccelerometer::AnalogAccelerometer(std::shared_ptr channel) } } -/** - * Return the acceleration in Gs. - * - * The acceleration is returned units of Gs. - * - * @return The current acceleration of the sensor in Gs. - */ double AnalogAccelerometer::GetAcceleration() const { return (m_analogInput->GetAverageVoltage() - m_zeroGVoltage) / m_voltsPerG; } -/** - * Set the accelerometer sensitivity. - * - * This sets the sensitivity of the accelerometer used for calculating the - * acceleration. The sensitivity varies by accelerometer model. There are - * constants defined for various models. - * - * @param sensitivity The sensitivity of accelerometer in Volts per G. - */ void AnalogAccelerometer::SetSensitivity(double sensitivity) { m_voltsPerG = sensitivity; } -/** - * Set the voltage that corresponds to 0 G. - * - * The zero G voltage varies by accelerometer model. There are constants defined - * for various models. - * - * @param zero The zero G voltage. - */ void AnalogAccelerometer::SetZero(double zero) { m_zeroGVoltage = zero; } -/** - * Get the Acceleration for the PID Source parent. - * - * @return The current acceleration in Gs. - */ double AnalogAccelerometer::PIDGet() { return GetAcceleration(); } void AnalogAccelerometer::InitSendable(SendableBuilder& builder) { @@ -120,3 +54,9 @@ void AnalogAccelerometer::InitSendable(SendableBuilder& builder) { builder.AddDoubleProperty("Value", [=]() { return GetAcceleration(); }, nullptr); } + +void AnalogAccelerometer::InitAccelerometer() { + HAL_Report(HALUsageReporting::kResourceType_Accelerometer, + m_analogInput->GetChannel()); + SetName("Accelerometer", m_analogInput->GetChannel()); +} diff --git a/wpilibc/src/main/native/cpp/AnalogGyro.cpp b/wpilibc/src/main/native/cpp/AnalogGyro.cpp index af253fa2db..4acd821e87 100644 --- a/wpilibc/src/main/native/cpp/AnalogGyro.cpp +++ b/wpilibc/src/main/native/cpp/AnalogGyro.cpp @@ -19,43 +19,15 @@ using namespace frc; -/** - * Gyro constructor using the Analog Input channel number. - * - * @param channel The analog channel the gyro is connected to. Gyros can only - * be used on on-board Analog Inputs 0-1. - */ AnalogGyro::AnalogGyro(int channel) : AnalogGyro(std::make_shared(channel)) { AddChild(m_analog); } -/** - * Gyro constructor with a precreated AnalogInput object. - * - * Use this constructor when the analog channel needs to be shared. - * This object will not clean up the AnalogInput object when using this - * constructor. - * - * Gyros can only be used on on-board channels 0-1. - * - * @param channel A pointer to the AnalogInput object that the gyro is - * connected to. - */ AnalogGyro::AnalogGyro(AnalogInput* channel) : AnalogGyro( std::shared_ptr(channel, NullDeleter())) {} -/** - * Gyro constructor with a precreated AnalogInput object. - * - * Use this constructor when the analog channel needs to be shared. - * This object will not clean up the AnalogInput object when using this - * constructor. - * - * @param channel A pointer to the AnalogInput object that the gyro is - * connected to. - */ AnalogGyro::AnalogGyro(std::shared_ptr channel) : m_analog(channel) { if (channel == nullptr) { @@ -66,32 +38,11 @@ AnalogGyro::AnalogGyro(std::shared_ptr channel) } } -/** - * Gyro constructor using the Analog Input channel number with parameters for - * presetting the center and offset values. Bypasses calibration. - * - * @param channel The analog channel the gyro is connected to. Gyros can only - * be used on on-board Analog Inputs 0-1. - * @param center Preset uncalibrated value to use as the accumulator center - * value. - * @param offset Preset uncalibrated value to use as the gyro offset. - */ AnalogGyro::AnalogGyro(int channel, int center, double offset) : AnalogGyro(std::make_shared(channel), center, offset) { AddChild(m_analog); } -/** - * Gyro constructor with a precreated AnalogInput object and calibrated - * parameters. - * - * Use this constructor when the analog channel needs to be shared. - * This object will not clean up the AnalogInput object when using this - * constructor. - * - * @param channel A pointer to the AnalogInput object that the gyro is - * connected to. - */ AnalogGyro::AnalogGyro(std::shared_ptr channel, int center, double offset) : m_analog(channel) { @@ -111,19 +62,54 @@ AnalogGyro::AnalogGyro(std::shared_ptr channel, int center, } } -/** - * AnalogGyro Destructor - * - */ AnalogGyro::~AnalogGyro() { HAL_FreeAnalogGyro(m_gyroHandle); } -/** - * Reset the gyro. - * - * Resets the gyro to a heading of zero. This can be used if there is - * significant drift in the gyro and it needs to be recalibrated after it has - * been running. - */ +double AnalogGyro::GetAngle() const { + if (StatusIsFatal()) return 0.0; + int32_t status = 0; + double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + return value; +} + +double AnalogGyro::GetRate() const { + if (StatusIsFatal()) return 0.0; + int32_t status = 0; + double value = HAL_GetAnalogGyroRate(m_gyroHandle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + return value; +} + +int AnalogGyro::GetCenter() const { + if (StatusIsFatal()) return 0; + int32_t status = 0; + int value = HAL_GetAnalogGyroCenter(m_gyroHandle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + return value; +} + +double AnalogGyro::GetOffset() const { + if (StatusIsFatal()) return 0.0; + int32_t status = 0; + double value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + return value; +} + +void AnalogGyro::SetSensitivity(double voltsPerDegreePerSecond) { + int32_t status = 0; + HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle, + voltsPerDegreePerSecond, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); +} + +void AnalogGyro::SetDeadband(double volts) { + if (StatusIsFatal()) return; + int32_t status = 0; + HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); +} + void AnalogGyro::Reset() { if (StatusIsFatal()) return; int32_t status = 0; @@ -131,9 +117,6 @@ void AnalogGyro::Reset() { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Initialize the gyro. Calibration is handled by Calibrate(). - */ void AnalogGyro::InitGyro() { if (StatusIsFatal()) return; if (m_gyroHandle == HAL_kInvalidHandle) { @@ -173,98 +156,3 @@ void AnalogGyro::Calibrate() { HAL_CalibrateAnalogGyro(m_gyroHandle, &status); wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } - -/** - * Return the actual angle in degrees that the robot is currently facing. - * - * The angle is based on the current accumulator value corrected by the - * oversampling rate, the gyro type and the A/D calibration values. - * The angle is continuous, that is it will continue from 360->361 degrees. This - * allows algorithms that wouldn't want to see a discontinuity in the gyro - * output as it sweeps from 360 to 0 on the second time around. - * - * @return the current heading of the robot in degrees. This heading is based on - * integration of the returned rate from the gyro. - */ -double AnalogGyro::GetAngle() const { - if (StatusIsFatal()) return 0.0; - int32_t status = 0; - double value = HAL_GetAnalogGyroAngle(m_gyroHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - return value; -} - -/** - * Return the rate of rotation of the gyro - * - * The rate is based on the most recent reading of the gyro analog value - * - * @return the current rate in degrees per second - */ -double AnalogGyro::GetRate() const { - if (StatusIsFatal()) return 0.0; - int32_t status = 0; - double value = HAL_GetAnalogGyroRate(m_gyroHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - return value; -} - -/** - * Return the gyro offset value. If run after calibration, - * the offset value can be used as a preset later. - * - * @return the current offset value - */ -double AnalogGyro::GetOffset() const { - if (StatusIsFatal()) return 0.0; - int32_t status = 0; - double value = HAL_GetAnalogGyroOffset(m_gyroHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - return value; -} - -/** - * Return the gyro center value. If run after calibration, - * the center value can be used as a preset later. - * - * @return the current center value - */ -int AnalogGyro::GetCenter() const { - if (StatusIsFatal()) return 0; - int32_t status = 0; - int value = HAL_GetAnalogGyroCenter(m_gyroHandle, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - return value; -} - -/** - * Set the gyro sensitivity. - * - * This takes the number of volts/degree/second sensitivity of the gyro and uses - * it in subsequent calculations to allow the code to work with multiple gyros. - * This value is typically found in the gyro datasheet. - * - * @param voltsPerDegreePerSecond The sensitivity in Volts/degree/second - */ -void AnalogGyro::SetSensitivity(double voltsPerDegreePerSecond) { - int32_t status = 0; - HAL_SetAnalogGyroVoltsPerDegreePerSecond(m_gyroHandle, - voltsPerDegreePerSecond, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); -} - -/** - * Set the size of the neutral zone. - * - * Any voltage from the gyro less than this amount from the center is - * considered stationary. Setting a deadband will decrease the amount of drift - * when the gyro isn't rotating, but will make it less accurate. - * - * @param volts The size of the deadband in volts - */ -void AnalogGyro::SetDeadband(double volts) { - if (StatusIsFatal()) return; - int32_t status = 0; - HAL_SetAnalogGyroDeadband(m_gyroHandle, volts, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); -} diff --git a/wpilibc/src/main/native/cpp/AnalogInput.cpp b/wpilibc/src/main/native/cpp/AnalogInput.cpp index 0acfabdd24..36926bab4e 100644 --- a/wpilibc/src/main/native/cpp/AnalogInput.cpp +++ b/wpilibc/src/main/native/cpp/AnalogInput.cpp @@ -19,12 +19,6 @@ using namespace frc; -/** - * Construct an analog input. - * - * @param channel The channel number on the roboRIO to represent. 0-3 are - * on-board 4-7 are on the MXP port. - */ AnalogInput::AnalogInput(int channel) { if (!SensorUtil::CheckAnalogInputChannel(channel)) { wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, @@ -49,23 +43,11 @@ AnalogInput::AnalogInput(int channel) { SetName("AnalogInput", channel); } -/** - * Channel destructor. - */ AnalogInput::~AnalogInput() { HAL_FreeAnalogInputPort(m_port); m_port = HAL_kInvalidHandle; } -/** - * Get a sample straight from this channel. - * - * The sample is a 12-bit value representing the 0V to 5V range of the A/D - * converter in the module. The units are in A/D converter codes. Use - * GetVoltage() to get the analog value in calibrated units. - * - * @return A sample straight from this channel. - */ int AnalogInput::GetValue() const { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -74,20 +56,6 @@ int AnalogInput::GetValue() const { return value; } -/** - * Get a sample from the output of the oversample and average engine for this - * channel. - * - * The sample is 12-bit + the bits configured in SetOversampleBits(). - * The value configured in SetAverageBits() will cause this value to be averaged - * 2**bits number of samples. - * This is not a sliding window. The sample will not change until - * 2**(OversampleBits + AverageBits) samples - * have been acquired from the module on this channel. - * Use GetAverageVoltage() to get the analog value in calibrated units. - * - * @return A sample from the oversample and average engine for this channel. - */ int AnalogInput::GetAverageValue() const { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -96,14 +64,6 @@ int AnalogInput::GetAverageValue() const { return value; } -/** - * Get a scaled sample straight from this channel. - * - * The value is scaled to units of Volts using the calibrated scaling data from - * GetLSBWeight() and GetOffset(). - * - * @return A scaled sample straight from this channel. - */ double AnalogInput::GetVoltage() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; @@ -112,20 +72,6 @@ double AnalogInput::GetVoltage() const { return voltage; } -/** - * Get a scaled sample from the output of the oversample and average engine for - * this channel. - * - * The value is scaled to units of Volts using the calibrated scaling data from - * GetLSBWeight() and GetOffset(). - * Using oversampling will cause this value to be higher resolution, but it will - * update more slowly. - * Using averaging will cause this value to be more stable, but it will update - * more slowly. - * - * @return A scaled sample from the output of the oversample and average engine - * for this channel. - */ double AnalogInput::GetAverageVoltage() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; @@ -134,57 +80,11 @@ double AnalogInput::GetAverageVoltage() const { return voltage; } -/** - * Get the factory scaling least significant bit weight constant. - * - * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) - * - * @return Least significant bit weight. - */ -int AnalogInput::GetLSBWeight() const { - if (StatusIsFatal()) return 0; - int32_t status = 0; - int lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - return lsbWeight; -} - -/** - * Get the factory scaling offset constant. - * - * Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9) - * - * @return Offset constant. - */ -int AnalogInput::GetOffset() const { - if (StatusIsFatal()) return 0; - int32_t status = 0; - int offset = HAL_GetAnalogOffset(m_port, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - return offset; -} - -/** - * Get the channel number. - * - * @return The channel number. - */ int AnalogInput::GetChannel() const { if (StatusIsFatal()) return 0; return m_channel; } -/** - * Set the number of averaging bits. - * - * This sets the number of averaging bits. The actual number of averaged samples - * is 2^bits. - * Use averaging to improve the stability of your measurement at the expense of - * sampling rate. - * The averaging is done automatically in the FPGA. - * - * @param bits Number of bits of averaging. - */ void AnalogInput::SetAverageBits(int bits) { if (StatusIsFatal()) return; int32_t status = 0; @@ -192,14 +92,6 @@ void AnalogInput::SetAverageBits(int bits) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Get the number of averaging bits previously configured. - * - * This gets the number of averaging bits from the FPGA. The actual number of - * averaged samples is 2^bits. The averaging is done automatically in the FPGA. - * - * @return Number of bits of averaging previously configured. - */ int AnalogInput::GetAverageBits() const { int32_t status = 0; int averageBits = HAL_GetAnalogAverageBits(m_port, &status); @@ -207,16 +99,6 @@ int AnalogInput::GetAverageBits() const { return averageBits; } -/** - * Set the number of oversample bits. - * - * This sets the number of oversample bits. The actual number of oversampled - * values is 2^bits. Use oversampling to improve the resolution of your - * measurements at the expense of sampling rate. The oversampling is done - * automatically in the FPGA. - * - * @param bits Number of bits of oversampling. - */ void AnalogInput::SetOversampleBits(int bits) { if (StatusIsFatal()) return; int32_t status = 0; @@ -224,15 +106,6 @@ void AnalogInput::SetOversampleBits(int bits) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Get the number of oversample bits previously configured. - * - * This gets the number of oversample bits from the FPGA. The actual number of - * oversampled values is 2^bits. The oversampling is done automatically in the - * FPGA. - * - * @return Number of bits of oversampling previously configured. - */ int AnalogInput::GetOversampleBits() const { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -241,11 +114,22 @@ int AnalogInput::GetOversampleBits() const { return oversampleBits; } -/** - * Is the channel attached to an accumulator. - * - * @return The analog input is attached to an accumulator. - */ +int AnalogInput::GetLSBWeight() const { + if (StatusIsFatal()) return 0; + int32_t status = 0; + int lsbWeight = HAL_GetAnalogLSBWeight(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + return lsbWeight; +} + +int AnalogInput::GetOffset() const { + if (StatusIsFatal()) return 0; + int32_t status = 0; + int offset = HAL_GetAnalogOffset(m_port, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + return offset; +} + bool AnalogInput::IsAccumulatorChannel() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -254,9 +138,6 @@ bool AnalogInput::IsAccumulatorChannel() const { return isAccum; } -/** - * Initialize the accumulator. - */ void AnalogInput::InitAccumulator() { if (StatusIsFatal()) return; m_accumulatorOffset = 0; @@ -265,22 +146,11 @@ void AnalogInput::InitAccumulator() { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Set an initial value for the accumulator. - * - * This will be added to all values returned to the user. - * - * @param initialValue The value that the accumulator should start from when - * reset. - */ void AnalogInput::SetAccumulatorInitialValue(int64_t initialValue) { if (StatusIsFatal()) return; m_accumulatorOffset = initialValue; } -/** - * Resets the accumulator to the initial value. - */ void AnalogInput::ResetAccumulator() { if (StatusIsFatal()) return; int32_t status = 0; @@ -297,17 +167,6 @@ void AnalogInput::ResetAccumulator() { } } -/** - * Set the center value of the accumulator. - * - * The center value is subtracted from each A/D value before it is added to the - * accumulator. This is used for the center value of devices like gyros and - * accelerometers to take the device offset into account when integrating. - * - * This center value is based on the output of the oversampled and averaged - * source from the accumulator channel. Because of this, any non-zero - * oversample bits will affect the size of the value for this field. - */ void AnalogInput::SetAccumulatorCenter(int center) { if (StatusIsFatal()) return; int32_t status = 0; @@ -315,9 +174,6 @@ void AnalogInput::SetAccumulatorCenter(int center) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Set the accumulator's deadband. - */ void AnalogInput::SetAccumulatorDeadband(int deadband) { if (StatusIsFatal()) return; int32_t status = 0; @@ -325,14 +181,6 @@ void AnalogInput::SetAccumulatorDeadband(int deadband) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Read the accumulated value. - * - * Read the value that has been accumulating. - * The accumulator is attached after the oversample and average engine. - * - * @return The 64-bit value accumulated since the last Reset(). - */ int64_t AnalogInput::GetAccumulatorValue() const { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -341,14 +189,6 @@ int64_t AnalogInput::GetAccumulatorValue() const { return value + m_accumulatorOffset; } -/** - * Read the number of accumulated values. - * - * Read the count of the accumulated values since the accumulator was last - * Reset(). - * - * @return The number of times samples from the channel were accumulated. - */ int64_t AnalogInput::GetAccumulatorCount() const { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -357,15 +197,6 @@ int64_t AnalogInput::GetAccumulatorCount() const { return count; } -/** - * Read the accumulated value and the number of accumulated values atomically. - * - * This function reads the value and count from the FPGA atomically. - * This can be used for averaging. - * - * @param value Reference to the 64-bit accumulated output. - * @param count Reference to the number of accumulation cycles. - */ void AnalogInput::GetAccumulatorOutput(int64_t& value, int64_t& count) const { if (StatusIsFatal()) return; int32_t status = 0; @@ -374,25 +205,12 @@ void AnalogInput::GetAccumulatorOutput(int64_t& value, int64_t& count) const { value += m_accumulatorOffset; } -/** - * Set the sample rate per channel for all analog channels. - * - * The maximum rate is 500kS/s divided by the number of channels in use. - * This is 62500 samples/s per channel. - * - * @param samplesPerSecond The number of samples per second. - */ void AnalogInput::SetSampleRate(double samplesPerSecond) { int32_t status = 0; HAL_SetAnalogSampleRate(samplesPerSecond, &status); wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Get the current sample rate for all channels - * - * @return Sample rate. - */ double AnalogInput::GetSampleRate() { int32_t status = 0; double sampleRate = HAL_GetAnalogSampleRate(&status); @@ -400,11 +218,6 @@ double AnalogInput::GetSampleRate() { return sampleRate; } -/** - * Get the Average value for the PID Source base object. - * - * @return The average voltage. - */ double AnalogInput::PIDGet() { if (StatusIsFatal()) return 0.0; return GetAverageVoltage(); diff --git a/wpilibc/src/main/native/cpp/AnalogOutput.cpp b/wpilibc/src/main/native/cpp/AnalogOutput.cpp index 65129df616..8df6b5d68f 100644 --- a/wpilibc/src/main/native/cpp/AnalogOutput.cpp +++ b/wpilibc/src/main/native/cpp/AnalogOutput.cpp @@ -18,13 +18,6 @@ using namespace frc; -/** - * Construct an analog output on the given channel. - * - * All analog outputs are located on the MXP port. - * - * @param channel The channel number on the roboRIO to represent. - */ AnalogOutput::AnalogOutput(int channel) { if (!SensorUtil::CheckAnalogOutputChannel(channel)) { wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, @@ -51,23 +44,8 @@ AnalogOutput::AnalogOutput(int channel) { SetName("AnalogOutput", m_channel); } -/** - * Destructor. - * - * Frees analog output resource. - */ AnalogOutput::~AnalogOutput() { HAL_FreeAnalogOutputPort(m_port); } -/** - * Get the channel of this AnalogOutput. - */ -int AnalogOutput::GetChannel() { return m_channel; } - -/** - * Set the value of the analog output. - * - * @param voltage The output value in Volts, from 0.0 to +5.0 - */ void AnalogOutput::SetVoltage(double voltage) { int32_t status = 0; HAL_SetAnalogOutput(m_port, voltage, &status); @@ -75,11 +53,6 @@ void AnalogOutput::SetVoltage(double voltage) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Get the voltage of the analog output - * - * @return The value in Volts, from 0.0 to +5.0 - */ double AnalogOutput::GetVoltage() const { int32_t status = 0; double voltage = HAL_GetAnalogOutput(m_port, &status); @@ -89,6 +62,8 @@ double AnalogOutput::GetVoltage() const { return voltage; } +int AnalogOutput::GetChannel() { return m_channel; } + void AnalogOutput::InitSendable(SendableBuilder& builder) { builder.SetSmartDashboardType("Analog Output"); builder.AddDoubleProperty("Value", [=]() { return GetVoltage(); }, diff --git a/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp b/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp index 86543099f9..3000fd1dee 100644 --- a/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp +++ b/wpilibc/src/main/native/cpp/AnalogPotentiometer.cpp @@ -12,16 +12,6 @@ using namespace frc; -/** - * Construct an Analog Potentiometer object from a channel number. - * - * @param channel The channel number on the roboRIO to represent. 0-3 are - * on-board 4-7 are on the MXP port. - * @param fullRange The angular value (in desired units) representing the full - * 0-5V range of the input. - * @param offset The angular value (in desired units) representing the - * angular output at 0V. - */ AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange, double offset) : m_analog_input(std::make_shared(channel)), @@ -30,58 +20,24 @@ AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange, AddChild(m_analog_input); } -/** - * Construct an Analog Potentiometer object from an existing Analog Input - * pointer. - * - * @param channel The existing Analog Input pointer - * @param fullRange The angular value (in desired units) representing the full - * 0-5V range of the input. - * @param offset The angular value (in desired units) representing the - * angular output at 0V. - */ AnalogPotentiometer::AnalogPotentiometer(AnalogInput* input, double fullRange, double offset) : m_analog_input(input, NullDeleter()), m_fullRange(fullRange), m_offset(offset) {} -/** - * Construct an Analog Potentiometer object from an existing Analog Input - * pointer. - * - * @param channel The existing Analog Input pointer - * @param fullRange The angular value (in desired units) representing the full - * 0-5V range of the input. - * @param offset The angular value (in desired units) representing the - * angular output at 0V. - */ AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr input, double fullRange, double offset) : m_analog_input(input), m_fullRange(fullRange), m_offset(offset) {} -/** - * Get the current reading of the potentiometer. - * - * @return The current position of the potentiometer (in the units used for - * fullRange and offset). - */ double AnalogPotentiometer::Get() const { return (m_analog_input->GetVoltage() / RobotController::GetVoltage5V()) * m_fullRange + m_offset; } -/** - * Implement the PIDSource interface. - * - * @return The current reading. - */ double AnalogPotentiometer::PIDGet() { return Get(); } -/** - * Live Window code, only does anything if live window is activated. - */ void AnalogPotentiometer::InitSendable(SendableBuilder& builder) { m_analog_input->InitSendable(builder); } diff --git a/wpilibc/src/main/native/cpp/AnalogTrigger.cpp b/wpilibc/src/main/native/cpp/AnalogTrigger.cpp index 8e1d68787d..959154f321 100644 --- a/wpilibc/src/main/native/cpp/AnalogTrigger.cpp +++ b/wpilibc/src/main/native/cpp/AnalogTrigger.cpp @@ -16,26 +16,12 @@ using namespace frc; -/** - * Constructor for an analog trigger given a channel number. - * - * @param channel The channel number on the roboRIO to represent. 0-3 are - * on-board 4-7 are on the MXP port. - */ AnalogTrigger::AnalogTrigger(int channel) : AnalogTrigger(new AnalogInput(channel)) { m_ownsAnalog = true; AddChild(m_analogInput); } -/** - * Construct an analog trigger given an analog input. - * - * This should be used in the case of sharing an analog channel between the - * trigger and an analog input object. - * - * @param channel The pointer to the existing AnalogInput object - */ AnalogTrigger::AnalogTrigger(AnalogInput* input) { m_analogInput = input; int32_t status = 0; @@ -62,30 +48,6 @@ AnalogTrigger::~AnalogTrigger() { } } -/** - * Set the upper and lower limits of the analog trigger. - * - * The limits are given in ADC codes. If oversampling is used, the units must - * be scaled appropriately. - * - * @param lower The lower limit of the trigger in ADC codes (12-bit values). - * @param upper The upper limit of the trigger in ADC codes (12-bit values). - */ -void AnalogTrigger::SetLimitsRaw(int lower, int upper) { - if (StatusIsFatal()) return; - int32_t status = 0; - HAL_SetAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); -} - -/** - * Set the upper and lower limits of the analog trigger. - * - * The limits are given as floating point voltage values. - * - * @param lower The lower limit of the trigger in Volts. - * @param upper The upper limit of the trigger in Volts. - */ void AnalogTrigger::SetLimitsVoltage(double lower, double upper) { if (StatusIsFatal()) return; int32_t status = 0; @@ -93,15 +55,13 @@ void AnalogTrigger::SetLimitsVoltage(double lower, double upper) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Configure the analog trigger to use the averaged vs. raw values. - * - * If the value is true, then the averaged value is selected for the analog - * trigger, otherwise the immediate value is used. - * - * @param useAveragedValue If true, use the Averaged value, otherwise use the - * instantaneous reading - */ +void AnalogTrigger::SetLimitsRaw(int lower, int upper) { + if (StatusIsFatal()) return; + int32_t status = 0; + HAL_SetAnalogTriggerLimitsRaw(m_trigger, lower, upper, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); +} + void AnalogTrigger::SetAveraged(bool useAveragedValue) { if (StatusIsFatal()) return; int32_t status = 0; @@ -109,16 +69,6 @@ void AnalogTrigger::SetAveraged(bool useAveragedValue) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Configure the analog trigger to use a filtered value. - * - * The analog trigger will operate with a 3 point average rejection filter. This - * is designed to help with 360 degree pot applications for the period where - * the pot crosses through zero. - * - * @param useFilteredValue If true, use the 3 point rejection filter, otherwise - * use the unfiltered value - */ void AnalogTrigger::SetFiltered(bool useFilteredValue) { if (StatusIsFatal()) return; int32_t status = 0; @@ -126,25 +76,11 @@ void AnalogTrigger::SetFiltered(bool useFilteredValue) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Return the index of the analog trigger. - * - * This is the FPGA index of this analog trigger instance. - * - * @return The index of the analog trigger. - */ int AnalogTrigger::GetIndex() const { if (StatusIsFatal()) return -1; return m_index; } -/** - * Return the InWindow output of the analog trigger. - * - * True if the analog input is between the upper and lower limits. - * - * @return True if the analog input is between the upper and lower limits. - */ bool AnalogTrigger::GetInWindow() { if (StatusIsFatal()) return false; int32_t status = 0; @@ -153,16 +89,6 @@ bool AnalogTrigger::GetInWindow() { return result; } -/** - * Return the TriggerState output of the analog trigger. - * - * True if above upper limit. - * False if below lower limit. - * If in Hysteresis, maintain previous state. - * - * @return True if above upper limit. False if below lower limit. If in - * Hysteresis, maintain previous state. - */ bool AnalogTrigger::GetTriggerState() { if (StatusIsFatal()) return false; int32_t status = 0; @@ -171,15 +97,6 @@ bool AnalogTrigger::GetTriggerState() { return result; } -/** - * Creates an AnalogTriggerOutput object. - * - * Gets an output object that can be used for routing. - * Caller is responsible for deleting the AnalogTriggerOutput object. - * - * @param type An enum of the type of output object to create. - * @return A pointer to a new AnalogTriggerOutput object. - */ std::shared_ptr AnalogTrigger::CreateOutput( AnalogTriggerType type) const { if (StatusIsFatal()) return nullptr; diff --git a/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp b/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp index 612180f4ff..b10186553e 100644 --- a/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp +++ b/wpilibc/src/main/native/cpp/AnalogTriggerOutput.cpp @@ -14,24 +14,6 @@ using namespace frc; -/** - * Create an object that represents one of the four outputs from an analog - * trigger. - * - * Because this class derives from DigitalSource, it can be passed into routing - * functions for Counter, Encoder, etc. - * - * @param trigger A pointer to the trigger for which this is an output. - * @param outputType An enum that specifies the output on the trigger to - * represent. - */ -AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger, - AnalogTriggerType outputType) - : m_trigger(trigger), m_outputType(outputType) { - HAL_Report(HALUsageReporting::kResourceType_AnalogTriggerOutput, - trigger.GetIndex(), static_cast(outputType)); -} - AnalogTriggerOutput::~AnalogTriggerOutput() { if (m_interrupt != HAL_kInvalidHandle) { int32_t status = 0; @@ -41,11 +23,6 @@ AnalogTriggerOutput::~AnalogTriggerOutput() { } } -/** - * Get the state of the analog trigger output. - * - * @return The state of the analog trigger output. - */ bool AnalogTriggerOutput::Get() const { int32_t status = 0; bool result = HAL_GetAnalogTriggerOutput( @@ -55,28 +32,23 @@ bool AnalogTriggerOutput::Get() const { return result; } -/** - * @return The HAL Handle to the specified source. - */ HAL_Handle AnalogTriggerOutput::GetPortHandleForRouting() const { return m_trigger.m_trigger; } -/** - * Is source an AnalogTrigger - */ -bool AnalogTriggerOutput::IsAnalogTrigger() const { return true; } - -/** - * @return The type of analog trigger output to be used. - */ AnalogTriggerType AnalogTriggerOutput::GetAnalogTriggerTypeForRouting() const { return m_outputType; } -/** - * @return The channel of the source. - */ +bool AnalogTriggerOutput::IsAnalogTrigger() const { return true; } + int AnalogTriggerOutput::GetChannel() const { return m_trigger.m_index; } void AnalogTriggerOutput::InitSendable(SendableBuilder&) {} + +AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger, + AnalogTriggerType outputType) + : m_trigger(trigger), m_outputType(outputType) { + HAL_Report(HALUsageReporting::kResourceType_AnalogTriggerOutput, + trigger.GetIndex(), static_cast(outputType)); +} diff --git a/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp b/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp index 12b5e8dc12..57c1d5170f 100644 --- a/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp +++ b/wpilibc/src/main/native/cpp/BuiltInAccelerometer.cpp @@ -15,11 +15,6 @@ using namespace frc; -/** - * Constructor. - * - * @param range The range the accelerometer will measure - */ BuiltInAccelerometer::BuiltInAccelerometer(Range range) { SetRange(range); @@ -39,19 +34,10 @@ void BuiltInAccelerometer::SetRange(Range range) { HAL_SetAccelerometerActive(true); } -/** - * @return The acceleration of the roboRIO along the X axis in g-forces - */ double BuiltInAccelerometer::GetX() { return HAL_GetAccelerometerX(); } -/** - * @return The acceleration of the roboRIO along the Y axis in g-forces - */ double BuiltInAccelerometer::GetY() { return HAL_GetAccelerometerY(); } -/** - * @return The acceleration of the roboRIO along the Z axis in g-forces - */ double BuiltInAccelerometer::GetZ() { return HAL_GetAccelerometerZ(); } void BuiltInAccelerometer::InitSendable(SendableBuilder& builder) { diff --git a/wpilibc/src/main/native/cpp/Buttons/Button.cpp b/wpilibc/src/main/native/cpp/Buttons/Button.cpp index fc08d5efc5..9e73951ae9 100644 --- a/wpilibc/src/main/native/cpp/Buttons/Button.cpp +++ b/wpilibc/src/main/native/cpp/Buttons/Button.cpp @@ -9,42 +9,12 @@ using namespace frc; -/** - * Specifies the command to run when a button is first pressed. - * - * @param command The pointer to the command to run - */ void Button::WhenPressed(Command* command) { WhenActive(command); } -/** - * Specifies the command to be scheduled while the button is pressed. - * - * The command will be scheduled repeatedly while the button is pressed and will - * be canceled when the button is released. - * - * @param command The pointer to the command to run - */ void Button::WhileHeld(Command* command) { WhileActive(command); } -/** - * Specifies the command to run when the button is released. - * - * The command will be scheduled a single time. - * - * @param command The pointer to the command to run - */ void Button::WhenReleased(Command* command) { WhenInactive(command); } -/** - * Cancels the specificed command when the button is pressed. - * - * @param command The command to be canceled - */ void Button::CancelWhenPressed(Command* command) { CancelWhenActive(command); } -/** - * Toggle the specified command when the button is pressed. - * - * @param command The command to be toggled - */ void Button::ToggleWhenPressed(Command* command) { ToggleWhenActive(command); } diff --git a/wpilibc/src/main/native/cpp/CAN.cpp b/wpilibc/src/main/native/cpp/CAN.cpp index ea5d00dcc6..42fc3efc67 100644 --- a/wpilibc/src/main/native/cpp/CAN.cpp +++ b/wpilibc/src/main/native/cpp/CAN.cpp @@ -11,10 +11,6 @@ using namespace frc; -/** - * Create a new CAN communication interface with the specific device ID. - * The device ID is 6 bits (0-63) - */ CAN::CAN(int deviceId) { int32_t status = 0; m_handle = @@ -28,9 +24,6 @@ CAN::CAN(int deviceId) { // HAL_Report(HALUsageReporting::kResourceType_CAN, deviceId); } -/** - * Closes the CAN communication. - */ CAN::~CAN() { if (StatusIsFatal()) return; if (m_handle != HAL_kInvalidHandle) { @@ -39,29 +32,12 @@ CAN::~CAN() { } } -/** - * Write a packet to the CAN device with a specific ID. This ID is 10 bits. - * - * @param data The data to write (8 bytes max) - * @param length The data length to write - * @param apiId The API ID to write. - */ void CAN::WritePacket(const uint8_t* data, int length, int apiId) { int32_t status = 0; HAL_WriteCANPacket(m_handle, data, length, apiId, &status); wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Write a repeating packet to the CAN device with a specific ID. This ID is 10 - * bits. The RoboRIO will automatically repeat the packet at the specified - * interval - * - * @param data The data to write (8 bytes max) - * @param length The data length to write - * @param apiId The API ID to write. - * @param repeatMs The period to repeat the packet at. - */ void CAN::WritePacketRepeating(const uint8_t* data, int length, int apiId, int repeatMs) { int32_t status = 0; @@ -69,25 +45,12 @@ void CAN::WritePacketRepeating(const uint8_t* data, int length, int apiId, wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Stop a repeating packet with a specific ID. This ID is 10 bits. - * - * @param apiId The API ID to stop repeating - */ void CAN::StopPacketRepeating(int apiId) { int32_t status = 0; HAL_StopCANPacketRepeating(m_handle, apiId, &status); wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Read a new CAN packet. This will only return properly once per packet - * received. Multiple calls without receiving another packet will return false. - * - * @param apiId The API ID to read. - * @param data Storage for the received data. - * @return True if the data is valid, otherwise false. - */ bool CAN::ReadPacketNew(int apiId, CANData* data) { int32_t status = 0; HAL_ReadCANPacketNew(m_handle, apiId, data->data, &data->length, @@ -103,14 +66,6 @@ bool CAN::ReadPacketNew(int apiId, CANData* data) { } } -/** - * Read a CAN packet. The will continuously return the last packet received, - * without accounting for packet age. - * - * @param apiId The API ID to read. - * @param data Storage for the received data. - * @return True if the data is valid, otherwise false. - */ bool CAN::ReadPacketLatest(int apiId, CANData* data) { int32_t status = 0; HAL_ReadCANPacketLatest(m_handle, apiId, data->data, &data->length, @@ -126,15 +81,6 @@ bool CAN::ReadPacketLatest(int apiId, CANData* data) { } } -/** - * Read a CAN packet. The will return the last packet received until the - * packet is older then the requested timeout. Then it will return false. - * - * @param apiId The API ID to read. - * @param timeoutMs The timeout time for the packet - * @param data Storage for the received data. - * @return True if the data is valid, otherwise false. - */ bool CAN::ReadPacketTimeout(int apiId, int timeoutMs, CANData* data) { int32_t status = 0; HAL_ReadCANPacketTimeout(m_handle, apiId, data->data, &data->length, @@ -151,20 +97,6 @@ bool CAN::ReadPacketTimeout(int apiId, int timeoutMs, CANData* data) { } } -/** - * Read a CAN packet. The will return the last packet received until the - * packet is older then the requested timeout. Then it will return false. - * The period parameter is used when you know the packet is sent at specific - * intervals, so calls will not attempt to read a new packet from the - * network until that period has passed. We do not recommend users use this - * API unless they know the implications. - * - * @param apiId The API ID to read. - * @param timeoutMs The timeout time for the packet - * @param periodMs The usual period for the packet - * @param data Storage for the received data. - * @return True if the data is valid, otherwise false. - */ bool CAN::ReadPeriodicPacket(int apiId, int timeoutMs, int periodMs, CANData* data) { int32_t status = 0; diff --git a/wpilibc/src/main/native/cpp/Commands/Command.cpp b/wpilibc/src/main/native/cpp/Commands/Command.cpp index 4be65a74f5..449d8b6dcf 100644 --- a/wpilibc/src/main/native/cpp/Commands/Command.cpp +++ b/wpilibc/src/main/native/cpp/Commands/Command.cpp @@ -21,35 +21,12 @@ using namespace frc; int Command::m_commandCounter = 0; -/** - * Creates a new command. - * - * The name of this command will be default. - */ Command::Command() : Command("", -1.0) {} -/** - * Creates a new command with the given name and no timeout. - * - * @param name the name for this command - */ Command::Command(const wpi::Twine& name) : Command(name, -1.0) {} -/** - * Creates a new command with the given timeout and a default name. - * - * @param timeout the time (in seconds) before this command "times out" - * @see IsTimedOut() - */ Command::Command(double timeout) : Command("", timeout) {} -/** - * Creates a new command with the given name and timeout. - * - * @param name the name of the command - * @param timeout the time (in seconds) before this command "times out" - * @see IsTimedOut() - */ Command::Command(const wpi::Twine& name, double timeout) : SendableBase(false) { // We use -1.0 to indicate no timeout. if (timeout < 0.0 && timeout != -1.0) @@ -66,35 +43,6 @@ Command::Command(const wpi::Twine& name, double timeout) : SendableBase(false) { } } -/** - * Get the ID (sequence number) for this command. - * - * The ID is a unique sequence number that is incremented for each command. - * - * @return The ID of this command - */ -int Command::GetID() const { return m_commandID; } - -/** - * Sets the timeout of this command. - * - * @param timeout the timeout (in seconds) - * @see IsTimedOut() - */ -void Command::SetTimeout(double timeout) { - if (timeout < 0.0) - wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0"); - else - m_timeout = timeout; -} - -/** - * Returns the time since this command was initialized (in seconds). - * - * This function will work even if there is no specified timeout. - * - * @return the time since this command was initialized (in seconds). - */ double Command::TimeSinceInitialized() const { if (m_startTime < 0.0) return 0.0; @@ -102,16 +50,6 @@ double Command::TimeSinceInitialized() const { return Timer::GetFPGATimestamp() - m_startTime; } -/** - * This method specifies that the given Subsystem is used by this command. - * - * This method is crucial to the functioning of the Command System in general. - * - * Note that the recommended way to call this method is in the constructor. - * - * @param subsystem The Subsystem required - * @see Subsystem - */ void Command::Requires(Subsystem* subsystem) { if (!AssertUnlocked("Can not add new requirement to command")) return; @@ -121,34 +59,6 @@ void Command::Requires(Subsystem* subsystem) { wpi_setWPIErrorWithContext(NullParameter, "subsystem"); } -/** - * Called when the command has been removed. - * - * This will call Interrupted() or End(). - */ -void Command::Removed() { - if (m_initialized) { - if (IsCanceled()) { - Interrupted(); - _Interrupted(); - } else { - End(); - _End(); - } - } - m_initialized = false; - m_canceled = false; - m_running = false; - m_completed = true; -} - -/** - * Starts up the command. Gets the command ready to start. - * - * Note that the command will eventually start, however it will not necessarily - * do so immediately, and may in fact be canceled before initialize is even - * called. - */ void Command::Start() { LockChanges(); if (m_parent != nullptr) @@ -160,11 +70,6 @@ void Command::Start() { Scheduler::GetInstance()->AddCommand(this); } -/** - * The run method is used internally to actually run the commands. - * - * @return Whether or not the command should stay within the Scheduler. - */ bool Command::Run() { if (!m_runWhenDisabled && m_parent == nullptr && RobotState::IsDisabled()) Cancel(); @@ -182,86 +87,56 @@ bool Command::Run() { return !IsFinished(); } -/** - * The initialize method is called the first time this Command is run after - * being started. - */ -void Command::Initialize() {} +void Command::Cancel() { + if (m_parent != nullptr) + wpi_setWPIErrorWithContext( + CommandIllegalUse, + "Can not cancel a command that is part of a command group"); -/** - * The execute method is called repeatedly until this Command either finishes - * or is canceled. - */ -void Command::Execute() {} - -/** - * Called when the command ended peacefully. This is where you may want to wrap - * up loose ends, like shutting off a motor that was being used in the command. - */ -void Command::End() {} - -/** - * Called when the command ends because somebody called Cancel() or another - * command shared the same requirements as this one, and booted it out. - * - * This is where you may want to wrap up loose ends, like shutting off a motor - * that was being used in the command. - * - * Generally, it is useful to simply call the End() method within this method, - * as done here. - */ -void Command::Interrupted() { End(); } - -void Command::_Initialize() { m_completed = false; } - -void Command::_Interrupted() { m_completed = true; } - -void Command::_Execute() {} - -void Command::_End() { m_completed = true; } - -/** - * Called to indicate that the timer should start. - * - * This is called right before Initialize() is, inside the Run() method. - */ -void Command::StartTiming() { m_startTime = Timer::GetFPGATimestamp(); } - -/** - * Returns whether or not the TimeSinceInitialized() method returns a number - * which is greater than or equal to the timeout for the command. - * - * If there is no timeout, this will always return false. - * - * @return whether the time has expired - */ -bool Command::IsTimedOut() const { - return m_timeout != -1 && TimeSinceInitialized() >= m_timeout; + _Cancel(); +} + +bool Command::IsRunning() const { return m_running; } + +bool Command::IsInitialized() const { return m_initialized; } + +bool Command::IsCompleted() const { return m_completed; } + +bool Command::IsCanceled() const { return m_canceled; } + +bool Command::IsInterruptible() const { return m_interruptible; } + +void Command::SetInterruptible(bool interruptible) { + m_interruptible = interruptible; +} + +bool Command::DoesRequire(Subsystem* system) const { + return m_requirements.count(system) > 0; } -/** - * Returns the requirements (as an std::set of Subsystem pointers) of this - * command. - * - * @return The requirements (as an std::set of Subsystem pointers) of this - * command - */ Command::SubsystemSet Command::GetRequirements() const { return m_requirements; } -/** - * Prevents further changes from being made. - */ -void Command::LockChanges() { m_locked = true; } +CommandGroup* Command::GetGroup() const { return m_parent; } + +void Command::SetRunWhenDisabled(bool run) { m_runWhenDisabled = run; } + +bool Command::WillRunWhenDisabled() const { return m_runWhenDisabled; } + +int Command::GetID() const { return m_commandID; } + +void Command::SetTimeout(double timeout) { + if (timeout < 0.0) + wpi_setWPIErrorWithContext(ParameterOutOfRange, "timeout < 0.0"); + else + m_timeout = timeout; +} + +bool Command::IsTimedOut() const { + return m_timeout != -1 && TimeSinceInitialized() >= m_timeout; +} -/** - * If changes are locked, then this will generate a CommandIllegalUse error. - * - * @param message The message to report on error (it is appended by a default - * message) - * @return True if assert passed, false if assert failed. - */ bool Command::AssertUnlocked(const std::string& message) { if (m_locked) { std::string buf = @@ -272,11 +147,6 @@ bool Command::AssertUnlocked(const std::string& message) { return true; } -/** - * Sets the parent of this command. No actual change is made to the group. - * - * @param parent the parent - */ void Command::SetParent(CommandGroup* parent) { if (parent == nullptr) { wpi_setWPIErrorWithContext(NullParameter, "parent"); @@ -290,153 +160,55 @@ void Command::SetParent(CommandGroup* parent) { } } -/** - * Returns whether the command has a parent. - * - * @param True if the command has a parent. - */ bool Command::IsParented() const { return m_parent != nullptr; } -/** - * Clears list of subsystem requirements. - * - * This is only used by ConditionalCommand so cancelling the chosen command - * works properly in CommandGroup. - */ void Command::ClearRequirements() { m_requirements.clear(); } -/** - * This is used internally to mark that the command has been started. - * - * The lifecycle of a command is: - * - * StartRunning() is called. Run() is called (multiple times potentially). - * Removed() is called. - * - * It is very important that StartRunning() and Removed() be called in order or - * some assumptions of the code will be broken. - */ +void Command::Initialize() {} + +void Command::Execute() {} + +void Command::End() {} + +void Command::Interrupted() { End(); } + +void Command::_Initialize() { m_completed = false; } + +void Command::_Interrupted() { m_completed = true; } + +void Command::_Execute() {} + +void Command::_End() { m_completed = true; } + +void Command::_Cancel() { + if (IsRunning()) m_canceled = true; +} + +void Command::LockChanges() { m_locked = true; } + +void Command::Removed() { + if (m_initialized) { + if (IsCanceled()) { + Interrupted(); + _Interrupted(); + } else { + End(); + _End(); + } + } + m_initialized = false; + m_canceled = false; + m_running = false; + m_completed = true; +} + void Command::StartRunning() { m_running = true; m_startTime = -1; m_completed = false; } -/** - * Returns whether or not the command is running. - * - * This may return true even if the command has just been canceled, as it may - * not have yet called Interrupted(). - * - * @return whether or not the command is running - */ -bool Command::IsRunning() const { return m_running; } - -/** - * Returns whether or not the command has been initialized. - * - * @return whether or not the command has been initialized. - */ -bool Command::IsInitialized() const { return m_initialized; } - -/** - * Returns whether or not the command has completed running. - * - * @return whether or not the command has completed running. - */ -bool Command::IsCompleted() const { return m_completed; } - -/** - * This will cancel the current command. - * - * This will cancel the current command eventually. It can be called multiple - * times. And it can be called when the command is not running. If the command - * is running though, then the command will be marked as canceled and eventually - * removed. - * - * A command can not be canceled if it is a part of a command group, you must - * cancel the command group instead. - */ -void Command::Cancel() { - if (m_parent != nullptr) - wpi_setWPIErrorWithContext( - CommandIllegalUse, - "Can not cancel a command that is part of a command group"); - - _Cancel(); -} - -/** - * This works like Cancel(), except that it doesn't throw an exception if it is - * a part of a command group. - * - * Should only be called by the parent command group. - */ -void Command::_Cancel() { - if (IsRunning()) m_canceled = true; -} - -/** - * Returns whether or not this has been canceled. - * - * @return whether or not this has been canceled - */ -bool Command::IsCanceled() const { return m_canceled; } - -/** - * Returns whether or not this command can be interrupted. - * - * @return whether or not this command can be interrupted - */ -bool Command::IsInterruptible() const { return m_interruptible; } - -/** - * Sets whether or not this command can be interrupted. - * - * @param interruptible whether or not this command can be interrupted - */ -void Command::SetInterruptible(bool interruptible) { - m_interruptible = interruptible; -} - -/** - * Checks if the command requires the given Subsystem. - * - * @param system the system - * @return whether or not the subsystem is required (false if given nullptr) - */ -bool Command::DoesRequire(Subsystem* system) const { - return m_requirements.count(system) > 0; -} - -/** - * Returns the CommandGroup that this command is a part of. - * - * Will return null if this Command is not in a group. - * - * @return The CommandGroup that this command is a part of (or null if not in - * group) - */ -CommandGroup* Command::GetGroup() const { return m_parent; } - -/** - * Sets whether or not this Command should run when the robot is disabled. - * - * By default a command will not run when the robot is disabled, and will in - * fact be canceled. - * - * @param run Whether this command should run when the robot is disabled. - */ -void Command::SetRunWhenDisabled(bool run) { m_runWhenDisabled = run; } - -/** - * Returns whether or not this Command will run when the robot is disabled, or - * if it will cancel itself. - * - * @return Whether this Command will run when the robot is disabled, or if it - * will cancel itself. - */ -bool Command::WillRunWhenDisabled() const { return m_runWhenDisabled; } +void Command::StartTiming() { m_startTime = Timer::GetFPGATimestamp(); } void Command::InitSendable(SendableBuilder& builder) { builder.SetSmartDashboardType("Command"); diff --git a/wpilibc/src/main/native/cpp/Commands/CommandGroup.cpp b/wpilibc/src/main/native/cpp/Commands/CommandGroup.cpp index 0855911313..4c78766ee8 100644 --- a/wpilibc/src/main/native/cpp/Commands/CommandGroup.cpp +++ b/wpilibc/src/main/native/cpp/Commands/CommandGroup.cpp @@ -11,25 +11,8 @@ using namespace frc; -/** - * Creates a new CommandGroup with the given name. - * - * @param name The name for this command group - */ CommandGroup::CommandGroup(const wpi::Twine& name) : Command(name) {} -/** - * Adds a new Command to the group. The Command will be started after all the - * previously added Commands. - * - * Note that any requirements the given Command has will be added to the group. - * For this reason, a Command's requirements can not be changed after being - * added to a group. - * - * It is recommended that this method be called in the constructor. - * - * @param command The Command to be added - */ void CommandGroup::AddSequential(Command* command) { if (command == nullptr) { wpi_setWPIErrorWithContext(NullParameter, "command"); @@ -48,23 +31,6 @@ void CommandGroup::AddSequential(Command* command) { Requires(*iter); } -/** - * Adds a new Command to the group with a given timeout. The Command will be - * started after all the previously added commands. - * - * Once the Command is started, it will be run until it finishes or the time - * expires, whichever is sooner. Note that the given Command will have no - * knowledge that it is on a timer. - * - * Note that any requirements the given Command has will be added to the group. - * For this reason, a Command's requirements can not be changed after being - * added to a group. - * - * It is recommended that this method be called in the constructor. - * - * @param command The Command to be added - * @param timeout The timeout (in seconds) - */ void CommandGroup::AddSequential(Command* command, double timeout) { if (command == nullptr) { wpi_setWPIErrorWithContext(NullParameter, "command"); @@ -87,24 +53,6 @@ void CommandGroup::AddSequential(Command* command, double timeout) { Requires(*iter); } -/** - * Adds a new child Command to the group. The Command will be started after all - * the previously added Commands. - * - * Instead of waiting for the child to finish, a CommandGroup will have it run - * at the same time as the subsequent Commands. The child will run until either - * it finishes, a new child with conflicting requirements is started, or the - * main sequence runs a Command with conflicting requirements. In the latter two - * cases, the child will be canceled even if it says it can't be interrupted. - * - * Note that any requirements the given Command has will be added to the group. - * For this reason, a Command's requirements can not be changed after being - * added to a group. - * - * It is recommended that this method be called in the constructor. - * - * @param command The command to be added - */ void CommandGroup::AddParallel(Command* command) { if (command == nullptr) { wpi_setWPIErrorWithContext(NullParameter, "command"); @@ -123,30 +71,6 @@ void CommandGroup::AddParallel(Command* command) { Requires(*iter); } -/** - * Adds a new child Command to the group with the given timeout. The Command - * will be started after all the previously added Commands. - * - * Once the Command is started, it will run until it finishes, is interrupted, - * or the time expires, whichever is sooner. Note that the given Command will - * have no knowledge that it is on a timer. - * - * Instead of waiting for the child to finish, a CommandGroup will have it run - * at the same time as the subsequent Commands. The child will run until either - * it finishes, the timeout expires, a new child with conflicting requirements - * is started, or the main sequence runs a Command with conflicting - * requirements. In the latter two cases, the child will be canceled even if it - * says it can't be interrupted. - * - * Note that any requirements the given Command has will be added to the group. - * For this reason, a Command's requirements can not be changed after being - * added to a group. - * - * It is recommended that this method be called in the constructor. - * - * @param command The command to be added - * @param timeout The timeout (in seconds) - */ void CommandGroup::AddParallel(Command* command, double timeout) { if (command == nullptr) { wpi_setWPIErrorWithContext(NullParameter, "command"); @@ -169,6 +93,37 @@ void CommandGroup::AddParallel(Command* command, double timeout) { Requires(*iter); } +bool CommandGroup::IsInterruptible() const { + if (!Command::IsInterruptible()) return false; + + if (m_currentCommandIndex != -1 && + static_cast(m_currentCommandIndex) < m_commands.size()) { + Command* cmd = m_commands[m_currentCommandIndex].m_command; + if (!cmd->IsInterruptible()) return false; + } + + for (auto iter = m_children.cbegin(); iter != m_children.cend(); iter++) { + if (!iter->m_command->IsInterruptible()) return false; + } + + return true; +} + +int CommandGroup::GetSize() const { return m_children.size(); } + +void CommandGroup::Initialize() {} + +void CommandGroup::Execute() {} + +bool CommandGroup::IsFinished() { + return static_cast(m_currentCommandIndex) >= m_commands.size() && + m_children.empty(); +} + +void CommandGroup::End() {} + +void CommandGroup::Interrupted() {} + void CommandGroup::_Initialize() { m_currentCommandIndex = -1; } void CommandGroup::_Execute() { @@ -258,39 +213,6 @@ void CommandGroup::_End() { void CommandGroup::_Interrupted() { _End(); } -// Can be overwritten by teams -void CommandGroup::Initialize() {} - -// Can be overwritten by teams -void CommandGroup::Execute() {} - -// Can be overwritten by teams -void CommandGroup::End() {} - -// Can be overwritten by teams -void CommandGroup::Interrupted() {} - -bool CommandGroup::IsFinished() { - return static_cast(m_currentCommandIndex) >= m_commands.size() && - m_children.empty(); -} - -bool CommandGroup::IsInterruptible() const { - if (!Command::IsInterruptible()) return false; - - if (m_currentCommandIndex != -1 && - static_cast(m_currentCommandIndex) < m_commands.size()) { - Command* cmd = m_commands[m_currentCommandIndex].m_command; - if (!cmd->IsInterruptible()) return false; - } - - for (auto iter = m_children.cbegin(); iter != m_children.cend(); iter++) { - if (!iter->m_command->IsInterruptible()) return false; - } - - return true; -} - void CommandGroup::CancelConflicts(Command* command) { for (auto childIter = m_children.begin(); childIter != m_children.end();) { Command* child = childIter->m_command; @@ -310,5 +232,3 @@ void CommandGroup::CancelConflicts(Command* command) { if (!erased) childIter++; } } - -int CommandGroup::GetSize() const { return m_children.size(); } diff --git a/wpilibc/src/main/native/cpp/Commands/ConditionalCommand.cpp b/wpilibc/src/main/native/cpp/Commands/ConditionalCommand.cpp index c11ed811fe..7b650bca5e 100644 --- a/wpilibc/src/main/native/cpp/Commands/ConditionalCommand.cpp +++ b/wpilibc/src/main/native/cpp/Commands/ConditionalCommand.cpp @@ -24,12 +24,6 @@ static void RequireAll(Command& command, Command* onTrue, Command* onFalse) { } } -/** - * Creates a new ConditionalCommand with given onTrue and onFalse Commands. - * - * @param onTrue The Command to execute if Condition() returns true - * @param onFalse The Command to execute if Condition() returns false - */ ConditionalCommand::ConditionalCommand(Command* onTrue, Command* onFalse) { m_onTrue = onTrue; m_onFalse = onFalse; @@ -37,13 +31,6 @@ ConditionalCommand::ConditionalCommand(Command* onTrue, Command* onFalse) { RequireAll(*this, onTrue, onFalse); } -/** - * Creates a new ConditionalCommand with given onTrue and onFalse Commands. - * - * @param name The name for this command group - * @param onTrue The Command to execute if Condition() returns true - * @param onFalse The Command to execute if Condition() returns false - */ ConditionalCommand::ConditionalCommand(const wpi::Twine& name, Command* onTrue, Command* onFalse) : Command(name) { diff --git a/wpilibc/src/main/native/cpp/Commands/InstantCommand.cpp b/wpilibc/src/main/native/cpp/Commands/InstantCommand.cpp index 99c83d027b..b3f6906988 100644 --- a/wpilibc/src/main/native/cpp/Commands/InstantCommand.cpp +++ b/wpilibc/src/main/native/cpp/Commands/InstantCommand.cpp @@ -9,11 +9,6 @@ using namespace frc; -/** - * Creates a new InstantCommand with the given name. - * - * @param name The name for this command - */ InstantCommand::InstantCommand(const wpi::Twine& name) : Command(name) {} bool InstantCommand::IsFinished() { return true; } diff --git a/wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp b/wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp index 80ad3d6b60..a1ac29b1ba 100644 --- a/wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp +++ b/wpilibc/src/main/native/cpp/Commands/PIDSubsystem.cpp @@ -11,29 +11,12 @@ using namespace frc; -/** - * Instantiates a PIDSubsystem that will use the given P, I, and D values. - * - * @param name the name - * @param p the proportional value - * @param i the integral value - * @param d the derivative value - */ PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d) : Subsystem(name) { m_controller = std::make_shared(p, i, d, this, this); AddChild("PIDController", m_controller); } -/** - * Instantiates a PIDSubsystem that will use the given P, I, and D values. - * - * @param name the name - * @param p the proportional value - * @param i the integral value - * @param d the derivative value - * @param f the feedforward value - */ PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d, double f) : Subsystem(name) { @@ -41,19 +24,6 @@ PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d, AddChild("PIDController", m_controller); } -/** - * Instantiates a PIDSubsystem that will use the given P, I, and D values. - * - * It will also space the time between PID loop calculations to be equal to the - * given period. - * - * @param name the name - * @param p the proportional value - * @param i the integral value - * @param d the derivative value - * @param f the feedfoward value - * @param period the time (in seconds) between calculations - */ PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d, double f, double period) : Subsystem(name) { @@ -62,49 +32,18 @@ PIDSubsystem::PIDSubsystem(const wpi::Twine& name, double p, double i, double d, AddChild("PIDController", m_controller); } -/** - * Instantiates a PIDSubsystem that will use the given P, I, and D values. - * - * It will use the class name as its name. - * - * @param p the proportional value - * @param i the integral value - * @param d the derivative value - */ PIDSubsystem::PIDSubsystem(double p, double i, double d) : Subsystem("PIDSubsystem") { m_controller = std::make_shared(p, i, d, this, this); AddChild("PIDController", m_controller); } -/** - * Instantiates a PIDSubsystem that will use the given P, I, and D values. - * - * It will use the class name as its name. - * - * @param p the proportional value - * @param i the integral value - * @param d the derivative value - * @param f the feedforward value - */ PIDSubsystem::PIDSubsystem(double p, double i, double d, double f) : Subsystem("PIDSubsystem") { m_controller = std::make_shared(p, i, d, f, this, this); AddChild("PIDController", m_controller); } -/** - * Instantiates a PIDSubsystem that will use the given P, I, and D values. - * - * It will use the class name as its name. It will also space the time - * between PID loop calculations to be equal to the given period. - * - * @param p the proportional value - * @param i the integral value - * @param d the derivative value - * @param f the feedforward value - * @param period the time (in seconds) between calculations - */ PIDSubsystem::PIDSubsystem(double p, double i, double d, double f, double period) : Subsystem("PIDSubsystem") { @@ -113,128 +52,46 @@ PIDSubsystem::PIDSubsystem(double p, double i, double d, double f, AddChild("PIDController", m_controller); } -/** - * Enables the internal PIDController. - */ void PIDSubsystem::Enable() { m_controller->Enable(); } -/** - * Disables the internal PIDController. - */ void PIDSubsystem::Disable() { m_controller->Disable(); } -/** - * Returns the PIDController used by this PIDSubsystem. - * - * Use this if you would like to fine tune the PID loop. - * - * @return The PIDController used by this PIDSubsystem - */ -std::shared_ptr PIDSubsystem::GetPIDController() { - return m_controller; -} - -/** - * Sets the setpoint to the given value. - * - * If SetRange() was called, then the given setpoint will be trimmed to fit - * within the range. - * - * @param setpoint the new setpoint - */ -void PIDSubsystem::SetSetpoint(double setpoint) { - m_controller->SetSetpoint(setpoint); -} - -/** - * Adds the given value to the setpoint. - * - * If SetRange() was used, then the bounds will still be honored by this method. - * - * @param deltaSetpoint the change in the setpoint - */ -void PIDSubsystem::SetSetpointRelative(double deltaSetpoint) { - SetSetpoint(GetSetpoint() + deltaSetpoint); -} - -/** - * Return the current setpoint. - * - * @return The current setpoint - */ -double PIDSubsystem::GetSetpoint() { return m_controller->GetSetpoint(); } - -/** - * Sets the maximum and minimum values expected from the input. - * - * @param minimumInput the minimum value expected from the input - * @param maximumInput the maximum value expected from the output - */ -void PIDSubsystem::SetInputRange(double minimumInput, double maximumInput) { - m_controller->SetInputRange(minimumInput, maximumInput); -} - -/** - * Sets the maximum and minimum values to write. - * - * @param minimumOutput the minimum value to write to the output - * @param maximumOutput the maximum value to write to the output - */ -void PIDSubsystem::SetOutputRange(double minimumOutput, double maximumOutput) { - m_controller->SetOutputRange(minimumOutput, maximumOutput); -} - -/** - * Set the absolute error which is considered tolerable for use with - * OnTarget. - * - * @param absValue absolute error which is tolerable - */ -void PIDSubsystem::SetAbsoluteTolerance(double absValue) { - m_controller->SetAbsoluteTolerance(absValue); -} - -/** - * Set the percentage error which is considered tolerable for use with - * OnTarget(). - * - * @param percent percentage error which is tolerable - */ -void PIDSubsystem::SetPercentTolerance(double percent) { - m_controller->SetPercentTolerance(percent); -} - -/** - * Return true if the error is within the percentage of the total input range, - * determined by SetTolerance(). - * - * This asssumes that the maximum and minimum input were set using SetInput(). - * Use OnTarget() in the IsFinished() method of commands that use this - * subsystem. - * - * Currently this just reports on target as the actual value passes through the - * setpoint. Ideally it should be based on being within the tolerance for some - * period of time. - * - * @return True if the error is within the percentage tolerance of the input - * range - */ -bool PIDSubsystem::OnTarget() const { return m_controller->OnTarget(); } - -/** - * Returns the current position. - * - * @return the current position - */ -double PIDSubsystem::GetPosition() { return ReturnPIDInput(); } - -/** - * Returns the current rate. - * - * @return the current rate - */ -double PIDSubsystem::GetRate() { return ReturnPIDInput(); } - void PIDSubsystem::PIDWrite(double output) { UsePIDOutput(output); } double PIDSubsystem::PIDGet() { return ReturnPIDInput(); } + +void PIDSubsystem::SetSetpoint(double setpoint) { + m_controller->SetSetpoint(setpoint); +} + +void PIDSubsystem::SetSetpointRelative(double deltaSetpoint) { + SetSetpoint(GetSetpoint() + deltaSetpoint); +} + +void PIDSubsystem::SetInputRange(double minimumInput, double maximumInput) { + m_controller->SetInputRange(minimumInput, maximumInput); +} + +void PIDSubsystem::SetOutputRange(double minimumOutput, double maximumOutput) { + m_controller->SetOutputRange(minimumOutput, maximumOutput); +} + +double PIDSubsystem::GetSetpoint() { return m_controller->GetSetpoint(); } + +double PIDSubsystem::GetPosition() { return ReturnPIDInput(); } + +double PIDSubsystem::GetRate() { return ReturnPIDInput(); } + +void PIDSubsystem::SetAbsoluteTolerance(double absValue) { + m_controller->SetAbsoluteTolerance(absValue); +} + +void PIDSubsystem::SetPercentTolerance(double percent) { + m_controller->SetPercentTolerance(percent); +} + +bool PIDSubsystem::OnTarget() const { return m_controller->OnTarget(); } + +std::shared_ptr PIDSubsystem::GetPIDController() { + return m_controller; +} diff --git a/wpilibc/src/main/native/cpp/Commands/Scheduler.cpp b/wpilibc/src/main/native/cpp/Commands/Scheduler.cpp index bebab306dd..3ac8adc3f6 100644 --- a/wpilibc/src/main/native/cpp/Commands/Scheduler.cpp +++ b/wpilibc/src/main/native/cpp/Commands/Scheduler.cpp @@ -18,31 +18,11 @@ using namespace frc; -Scheduler::Scheduler() { - HLUsageReporting::ReportScheduler(); - SetName("Scheduler"); -} - -/** - * Returns the Scheduler, creating it if one does not exist. - * - * @return the Scheduler - */ Scheduler* Scheduler::GetInstance() { static Scheduler instance; return &instance; } -void Scheduler::SetEnabled(bool enabled) { m_enabled = enabled; } - -/** - * Add a command to be scheduled later. - * - * In any pass through the scheduler, all commands are added to the additions - * list, then at the end of the pass, they are all scheduled. - * - * @param command The command to be scheduled - */ void Scheduler::AddCommand(Command* command) { std::lock_guard lock(m_additionsMutex); if (std::find(m_additions.begin(), m_additions.end(), command) != @@ -56,63 +36,14 @@ void Scheduler::AddButton(ButtonScheduler* button) { m_buttons.push_back(button); } -void Scheduler::ProcessCommandAddition(Command* command) { - if (command == nullptr) return; - - // Check to make sure no adding during adding - if (m_adding) { - wpi_setWPIErrorWithContext(IncompatibleState, - "Can not start command from cancel method"); +void Scheduler::RegisterSubsystem(Subsystem* subsystem) { + if (subsystem == nullptr) { + wpi_setWPIErrorWithContext(NullParameter, "subsystem"); return; } - - // Only add if not already in - auto found = m_commands.find(command); - if (found == m_commands.end()) { - // Check that the requirements can be had - Command::SubsystemSet requirements = command->GetRequirements(); - for (Command::SubsystemSet::iterator iter = requirements.begin(); - iter != requirements.end(); iter++) { - Subsystem* lock = *iter; - if (lock->GetCurrentCommand() != nullptr && - !lock->GetCurrentCommand()->IsInterruptible()) - return; - } - - // Give it the requirements - m_adding = true; - for (Command::SubsystemSet::iterator iter = requirements.begin(); - iter != requirements.end(); iter++) { - Subsystem* lock = *iter; - if (lock->GetCurrentCommand() != nullptr) { - lock->GetCurrentCommand()->Cancel(); - Remove(lock->GetCurrentCommand()); - } - lock->SetCurrentCommand(command); - } - m_adding = false; - - m_commands.insert(command); - - command->StartRunning(); - m_runningCommandsChanged = true; - } + m_subsystems.insert(subsystem); } -/** - * Runs a single iteration of the loop. - * - * This method should be called often in order to have a functioning - * Command system. The loop has five stages: - * - *
    - *
  1. Poll the Buttons
    2. - *
  2. Execute/Remove the Commands
    3. - *
  3. Send values to SmartDashboard
    4. - *
  4. Add Commands
    5. - *
  5. Add Defaults
    6. - *
- */ void Scheduler::Run() { // Get button input (going backwards preserves button priority) { @@ -167,27 +98,6 @@ void Scheduler::Run() { } } -/** - * Registers a Subsystem to this Scheduler, so that the Scheduler might know if - * a default Command needs to be run. - * - * All Subsystems should call this. - * - * @param system the system - */ -void Scheduler::RegisterSubsystem(Subsystem* subsystem) { - if (subsystem == nullptr) { - wpi_setWPIErrorWithContext(NullParameter, "subsystem"); - return; - } - m_subsystems.insert(subsystem); -} - -/** - * Removes the Command from the Scheduler. - * - * @param command the command to remove - */ void Scheduler::Remove(Command* command) { if (command == nullptr) { wpi_setWPIErrorWithContext(NullParameter, "command"); @@ -211,9 +121,6 @@ void Scheduler::RemoveAll() { } } -/** - * Completely resets the scheduler. Undefined behavior if running. - */ void Scheduler::ResetAll() { RemoveAll(); m_subsystems.clear(); @@ -225,6 +132,8 @@ void Scheduler::ResetAll() { m_cancelEntry = nt::NetworkTableEntry(); } +void Scheduler::SetEnabled(bool enabled) { m_enabled = enabled; } + void Scheduler::InitSendable(SendableBuilder& builder) { builder.SetSmartDashboardType("Scheduler"); m_namesEntry = builder.GetEntry("Names"); @@ -268,3 +177,51 @@ void Scheduler::InitSendable(SendableBuilder& builder) { } }); } + +Scheduler::Scheduler() { + HLUsageReporting::ReportScheduler(); + SetName("Scheduler"); +} + +void Scheduler::ProcessCommandAddition(Command* command) { + if (command == nullptr) return; + + // Check to make sure no adding during adding + if (m_adding) { + wpi_setWPIErrorWithContext(IncompatibleState, + "Can not start command from cancel method"); + return; + } + + // Only add if not already in + auto found = m_commands.find(command); + if (found == m_commands.end()) { + // Check that the requirements can be had + Command::SubsystemSet requirements = command->GetRequirements(); + for (Command::SubsystemSet::iterator iter = requirements.begin(); + iter != requirements.end(); iter++) { + Subsystem* lock = *iter; + if (lock->GetCurrentCommand() != nullptr && + !lock->GetCurrentCommand()->IsInterruptible()) + return; + } + + // Give it the requirements + m_adding = true; + for (Command::SubsystemSet::iterator iter = requirements.begin(); + iter != requirements.end(); iter++) { + Subsystem* lock = *iter; + if (lock->GetCurrentCommand() != nullptr) { + lock->GetCurrentCommand()->Cancel(); + Remove(lock->GetCurrentCommand()); + } + lock->SetCurrentCommand(command); + } + m_adding = false; + + m_commands.insert(command); + + command->StartRunning(); + m_runningCommandsChanged = true; + } +} diff --git a/wpilibc/src/main/native/cpp/Commands/Subsystem.cpp b/wpilibc/src/main/native/cpp/Commands/Subsystem.cpp index 99c33eab84..9bd21cffb1 100644 --- a/wpilibc/src/main/native/cpp/Commands/Subsystem.cpp +++ b/wpilibc/src/main/native/cpp/Commands/Subsystem.cpp @@ -15,37 +15,11 @@ using namespace frc; -/** - * Creates a subsystem with the given name. - * - * @param name the name of the subsystem - */ Subsystem::Subsystem(const wpi::Twine& name) { SetName(name, name); Scheduler::GetInstance()->RegisterSubsystem(this); } -/** - * Initialize the default command for this subsystem. - * - * This is meant to be the place to call SetDefaultCommand in a subsystem and - * will be called on all the subsystems by the CommandBase method before the - * program starts running by using the list of all registered Subsystems inside - * the Scheduler. - * - * This should be overridden by a Subsystem that has a default Command - */ -void Subsystem::InitDefaultCommand() {} - -/** - * Sets the default command. If this is not called or is called with null, - * then there will be no default command for the subsystem. - * - * WARNING: This should NOT be called in a constructor if the - * subsystem is a singleton. - * - * @param command the default command (or null if there should be none) - */ void Subsystem::SetDefaultCommand(Command* command) { if (command == nullptr) { m_defaultCommand = nullptr; @@ -69,11 +43,6 @@ void Subsystem::SetDefaultCommand(Command* command) { } } -/** - * Returns the default command (or null if there is none). - * - * @return the default command - */ Command* Subsystem::GetDefaultCommand() { if (!m_initializedDefaultCommand) { m_initializedDefaultCommand = true; @@ -82,11 +51,6 @@ Command* Subsystem::GetDefaultCommand() { return m_defaultCommand; } -/** - * Returns the default command name, or empty string is there is none. - * - * @return the default command name - */ wpi::StringRef Subsystem::GetDefaultCommandName() { Command* defaultCommand = GetDefaultCommand(); if (defaultCommand) { @@ -96,28 +60,13 @@ wpi::StringRef Subsystem::GetDefaultCommandName() { } } -/** - * Sets the current command. - * - * @param command the new current command - */ void Subsystem::SetCurrentCommand(Command* command) { m_currentCommand = command; m_currentCommandChanged = true; } -/** - * Returns the command which currently claims this subsystem. - * - * @return the command which currently claims this subsystem - */ Command* Subsystem::GetCurrentCommand() const { return m_currentCommand; } -/** - * Returns the current command name, or empty string if no current command. - * - * @return the current command name - */ wpi::StringRef Subsystem::GetCurrentCommandName() const { Command* currentCommand = GetCurrentCommand(); if (currentCommand) { @@ -127,82 +76,37 @@ wpi::StringRef Subsystem::GetCurrentCommandName() const { } } -/** - * When the run method of the scheduler is called this method will be called. - */ void Subsystem::Periodic() {} -/** - * Call this to alert Subsystem that the current command is actually the - * command. - * - * Sometimes, the Subsystem is told that it has no command while the Scheduler - * is going through the loop, only to be soon after given a new one. This will - * avoid that situation. - */ -void Subsystem::ConfirmCommand() { - if (m_currentCommandChanged) m_currentCommandChanged = false; -} +void Subsystem::InitDefaultCommand() {} -/** - * Associate a Sendable with this Subsystem. - * Also update the child's name. - * - * @param name name to give child - * @param child sendable - */ void Subsystem::AddChild(const wpi::Twine& name, std::shared_ptr child) { AddChild(name, *child); } -/** - * Associate a Sendable with this Subsystem. - * Also update the child's name. - * - * @param name name to give child - * @param child sendable - */ void Subsystem::AddChild(const wpi::Twine& name, Sendable* child) { AddChild(name, *child); } -/** - * Associate a Sendable with this Subsystem. - * Also update the child's name. - * - * @param name name to give child - * @param child sendable - */ void Subsystem::AddChild(const wpi::Twine& name, Sendable& child) { child.SetName(GetSubsystem(), name); LiveWindow::GetInstance()->Add(&child); } -/** - * Associate a {@link Sendable} with this Subsystem. - * - * @param child sendable - */ void Subsystem::AddChild(std::shared_ptr child) { AddChild(*child); } -/** - * Associate a {@link Sendable} with this Subsystem. - * - * @param child sendable - */ void Subsystem::AddChild(Sendable* child) { AddChild(*child); } -/** - * Associate a {@link Sendable} with this Subsystem. - * - * @param child sendable - */ void Subsystem::AddChild(Sendable& child) { child.SetSubsystem(GetSubsystem()); LiveWindow::GetInstance()->Add(&child); } +void Subsystem::ConfirmCommand() { + if (m_currentCommandChanged) m_currentCommandChanged = false; +} + void Subsystem::InitSendable(SendableBuilder& builder) { builder.SetSmartDashboardType("Subsystem"); diff --git a/wpilibc/src/main/native/cpp/Commands/TimedCommand.cpp b/wpilibc/src/main/native/cpp/Commands/TimedCommand.cpp index f8e94a3afd..141c716ace 100644 --- a/wpilibc/src/main/native/cpp/Commands/TimedCommand.cpp +++ b/wpilibc/src/main/native/cpp/Commands/TimedCommand.cpp @@ -9,23 +9,9 @@ using namespace frc; -/** - * Creates a new TimedCommand with the given name and timeout. - * - * @param name the name of the command - * @param timeout the time (in seconds) before this command "times out" - */ TimedCommand::TimedCommand(const wpi::Twine& name, double timeout) : Command(name, timeout) {} -/** - * Creates a new WaitCommand with the given timeout. - * - * @param timeout the time (in seconds) before this command "times out" - */ TimedCommand::TimedCommand(double timeout) : Command(timeout) {} -/** - * Ends command when timed out. - */ bool TimedCommand::IsFinished() { return IsTimedOut(); } diff --git a/wpilibc/src/main/native/cpp/Commands/WaitCommand.cpp b/wpilibc/src/main/native/cpp/Commands/WaitCommand.cpp index 4806076cf6..aadb450e7d 100644 --- a/wpilibc/src/main/native/cpp/Commands/WaitCommand.cpp +++ b/wpilibc/src/main/native/cpp/Commands/WaitCommand.cpp @@ -9,19 +9,8 @@ using namespace frc; -/** - * Creates a new WaitCommand with the given name and timeout. - * - * @param name the name of the command - * @param timeout the time (in seconds) before this command "times out" - */ WaitCommand::WaitCommand(double timeout) : TimedCommand("Wait(" + std::to_string(timeout) + ")", timeout) {} -/** - * Creates a new WaitCommand with the given timeout. - * - * @param timeout the time (in seconds) before this command "times out" - */ WaitCommand::WaitCommand(const wpi::Twine& name, double timeout) : TimedCommand(name, timeout) {} diff --git a/wpilibc/src/main/native/cpp/Commands/WaitUntilCommand.cpp b/wpilibc/src/main/native/cpp/Commands/WaitUntilCommand.cpp index 99cdbb42d3..58f96d9b70 100644 --- a/wpilibc/src/main/native/cpp/Commands/WaitUntilCommand.cpp +++ b/wpilibc/src/main/native/cpp/Commands/WaitUntilCommand.cpp @@ -11,13 +11,6 @@ using namespace frc; -/** - * A WaitCommand will wait until a certain match time before finishing. - * - * This will wait until the game clock reaches some value, then continue to the - * next command. - * @see CommandGroup - */ WaitUntilCommand::WaitUntilCommand(double time) : Command("WaitUntilCommand", time) { m_time = time; @@ -28,7 +21,4 @@ WaitUntilCommand::WaitUntilCommand(const wpi::Twine& name, double time) m_time = time; } -/** - * Check if we've reached the actual finish time. - */ bool WaitUntilCommand::IsFinished() { return Timer::GetMatchTime() >= m_time; } diff --git a/wpilibc/src/main/native/cpp/Compressor.cpp b/wpilibc/src/main/native/cpp/Compressor.cpp index 33e184f375..314eada407 100644 --- a/wpilibc/src/main/native/cpp/Compressor.cpp +++ b/wpilibc/src/main/native/cpp/Compressor.cpp @@ -17,11 +17,6 @@ using namespace frc; -/** - * Constructor. - * - * @param module The PCM ID to use (0-62) - */ Compressor::Compressor(int pcmID) : m_module(pcmID) { int32_t status = 0; m_compressorHandle = HAL_InitializeCompressor(m_module, &status); @@ -36,29 +31,16 @@ Compressor::Compressor(int pcmID) : m_module(pcmID) { SetName("Compressor", pcmID); } -/** - * Starts closed-loop control. Note that closed loop control is enabled by - * default. - */ void Compressor::Start() { if (StatusIsFatal()) return; SetClosedLoopControl(true); } -/** - * Stops closed-loop control. Note that closed loop control is enabled by - * default. - */ void Compressor::Stop() { if (StatusIsFatal()) return; SetClosedLoopControl(false); } -/** - * Check if compressor output is active. - * - * @return true if the compressor is on - */ bool Compressor::Enabled() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -73,11 +55,6 @@ bool Compressor::Enabled() const { return value; } -/** - * Check if the pressure switch is triggered. - * - * @return true if pressure is low - */ bool Compressor::GetPressureSwitchValue() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -92,11 +69,6 @@ bool Compressor::GetPressureSwitchValue() const { return value; } -/** - * Query how much current the compressor is drawing. - * - * @return The current through the compressor, in amps - */ double Compressor::GetCompressorCurrent() const { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -111,13 +83,6 @@ double Compressor::GetCompressorCurrent() const { return value; } -/** - * Enables or disables automatically turning the compressor on when the - * pressure is low. - * - * @param on Set to true to enable closed loop control of the compressor. False - * to disable. - */ void Compressor::SetClosedLoopControl(bool on) { if (StatusIsFatal()) return; int32_t status = 0; @@ -129,13 +94,6 @@ void Compressor::SetClosedLoopControl(bool on) { } } -/** - * Returns true if the compressor will automatically turn on when the - * pressure is low. - * - * @return True if closed loop control of the compressor is enabled. False if - * disabled. - */ bool Compressor::GetClosedLoopControl() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -150,12 +108,6 @@ bool Compressor::GetClosedLoopControl() const { return value; } -/** - * Query if the compressor output has been disabled due to high current draw. - * - * @return true if PCM is in fault state : Compressor Drive is - * disabled due to compressor current being too high. - */ bool Compressor::GetCompressorCurrentTooHighFault() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -170,16 +122,6 @@ bool Compressor::GetCompressorCurrentTooHighFault() const { return value; } -/** - * Query if the compressor output has been disabled due to high current draw - * (sticky). - * - * A sticky fault will not clear on device reboot, it must be cleared through - * code or the webdash. - * - * @return true if PCM sticky fault is set : Compressor Drive is - * disabled due to compressor current being too high. - */ bool Compressor::GetCompressorCurrentTooHighStickyFault() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -195,16 +137,6 @@ bool Compressor::GetCompressorCurrentTooHighStickyFault() const { return value; } -/** - * Query if the compressor output has been disabled due to a short circuit - * (sticky). - * - * A sticky fault will not clear on device reboot, it must be cleared through - * code or the webdash. - * - * @return true if PCM sticky fault is set : Compressor output - * appears to be shorted. - */ bool Compressor::GetCompressorShortedStickyFault() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -219,12 +151,6 @@ bool Compressor::GetCompressorShortedStickyFault() const { return value; } -/** - * Query if the compressor output has been disabled due to a short circuit. - * - * @return true if PCM is in fault state : Compressor output - * appears to be shorted. - */ bool Compressor::GetCompressorShortedFault() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -239,15 +165,6 @@ bool Compressor::GetCompressorShortedFault() const { return value; } -/** - * Query if the compressor output does not appear to be wired (sticky). - * - * A sticky fault will not clear on device reboot, it must be cleared through - * code or the webdash. - * - * @return true if PCM sticky fault is set : Compressor does not - * appear to be wired, i.e. compressor is not drawing enough current. - */ bool Compressor::GetCompressorNotConnectedStickyFault() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -262,12 +179,6 @@ bool Compressor::GetCompressorNotConnectedStickyFault() const { return value; } -/** - * Query if the compressor output does not appear to be wired. - * - * @return true if PCM is in fault state : Compressor does not - * appear to be wired, i.e. compressor is not drawing enough current. - */ bool Compressor::GetCompressorNotConnectedFault() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -282,16 +193,6 @@ bool Compressor::GetCompressorNotConnectedFault() const { return value; } -/** - * Clear ALL sticky faults inside PCM that Compressor is wired to. - * - * If a sticky fault is set, then it will be persistently cleared. Compressor - * drive maybe momentarily disable while flags are being cleared. Care should - * be taken to not call this too frequently, otherwise normal compressor - * functionality may be prevented. - * - * If no sticky faults are set then this call will have no effect. - */ void Compressor::ClearAllPCMStickyFaults() { if (StatusIsFatal()) return; int32_t status = 0; diff --git a/wpilibc/src/main/native/cpp/ControllerPower.cpp b/wpilibc/src/main/native/cpp/ControllerPower.cpp index 6427a1bda2..1c6ae6757b 100644 --- a/wpilibc/src/main/native/cpp/ControllerPower.cpp +++ b/wpilibc/src/main/native/cpp/ControllerPower.cpp @@ -16,12 +16,6 @@ using namespace frc; -/** - * Get the input voltage to the robot controller. - * - * @return The controller input voltage value in Volts - * @deprecated Use RobotController static class method - */ double ControllerPower::GetInputVoltage() { int32_t status = 0; double retVal = HAL_GetVinVoltage(&status); @@ -29,12 +23,6 @@ double ControllerPower::GetInputVoltage() { return retVal; } -/** - * Get the input current to the robot controller. - * - * @return The controller input current value in Amps - * @deprecated Use RobotController static class method - */ double ControllerPower::GetInputCurrent() { int32_t status = 0; double retVal = HAL_GetVinCurrent(&status); @@ -42,120 +30,6 @@ double ControllerPower::GetInputCurrent() { return retVal; } -/** - * Get the voltage of the 6V rail. - * - * @return The controller 6V rail voltage value in Volts - * @deprecated Use RobotController static class method - */ -double ControllerPower::GetVoltage6V() { - int32_t status = 0; - double retVal = HAL_GetUserVoltage6V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); - return retVal; -} - -/** - * Get the current output of the 6V rail. - * - * @return The controller 6V rail output current value in Amps - * @deprecated Use RobotController static class method - */ -double ControllerPower::GetCurrent6V() { - int32_t status = 0; - double retVal = HAL_GetUserCurrent6V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); - return retVal; -} - -/** - * Get the enabled state of the 6V rail. The rail may be disabled due to a - * controller brownout, a short circuit on the rail, or controller over-voltage. - * - * @return The controller 6V rail enabled value. True for enabled. - * @deprecated Use RobotController static class method - */ -bool ControllerPower::GetEnabled6V() { - int32_t status = 0; - bool retVal = HAL_GetUserActive6V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); - return retVal; -} - -/** - * Get the count of the total current faults on the 6V rail since the controller - * has booted. - * - * @return The number of faults. - * @deprecated Use RobotController static class method - */ -int ControllerPower::GetFaultCount6V() { - int32_t status = 0; - int retVal = HAL_GetUserCurrentFaults6V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); - return retVal; -} - -/** - * Get the voltage of the 5V rail. - * - * @return The controller 5V rail voltage value in Volts - * @deprecated Use RobotController static class method - */ -double ControllerPower::GetVoltage5V() { - int32_t status = 0; - double retVal = HAL_GetUserVoltage5V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); - return retVal; -} - -/** - * Get the current output of the 5V rail. - * - * @return The controller 5V rail output current value in Amps - * @deprecated Use RobotController static class method - */ -double ControllerPower::GetCurrent5V() { - int32_t status = 0; - double retVal = HAL_GetUserCurrent5V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); - return retVal; -} - -/** - * Get the enabled state of the 5V rail. The rail may be disabled due to a - * controller brownout, a short circuit on the rail, or controller over-voltage. - * - * @return The controller 5V rail enabled value. True for enabled. - * @deprecated Use RobotController static class method - */ -bool ControllerPower::GetEnabled5V() { - int32_t status = 0; - bool retVal = HAL_GetUserActive5V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); - return retVal; -} - -/** - * Get the count of the total current faults on the 5V rail since the controller - * has booted. - * - * @return The number of faults - * @deprecated Use RobotController static class method - */ -int ControllerPower::GetFaultCount5V() { - int32_t status = 0; - int retVal = HAL_GetUserCurrentFaults5V(&status); - wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); - return retVal; -} - -/** - * Get the voltage of the 3.3V rail. - * - * @return The controller 3.3V rail voltage value in Volts - * @deprecated Use RobotController static class method - */ double ControllerPower::GetVoltage3V3() { int32_t status = 0; double retVal = HAL_GetUserVoltage3V3(&status); @@ -163,12 +37,6 @@ double ControllerPower::GetVoltage3V3() { return retVal; } -/** - * Get the current output of the 3.3V rail. - * - * @return The controller 3.3V rail output current value in Amps - * @deprecated Use RobotController static class method - */ double ControllerPower::GetCurrent3V3() { int32_t status = 0; double retVal = HAL_GetUserCurrent3V3(&status); @@ -176,13 +44,6 @@ double ControllerPower::GetCurrent3V3() { return retVal; } -/** - * Get the enabled state of the 3.3V rail. The rail may be disabled due to a - * controller brownout, a short circuit on the rail, or controller over-voltage. - * - * @return The controller 3.3V rail enabled value. True for enabled. - * @deprecated Use RobotController static class method - */ bool ControllerPower::GetEnabled3V3() { int32_t status = 0; bool retVal = HAL_GetUserActive3V3(&status); @@ -190,16 +51,65 @@ bool ControllerPower::GetEnabled3V3() { return retVal; } -/** - * Get the count of the total current faults on the 3.3V rail since the - * controller has booted. - * - * @return The number of faults - * @deprecated Use RobotController static class method - */ int ControllerPower::GetFaultCount3V3() { int32_t status = 0; int retVal = HAL_GetUserCurrentFaults3V3(&status); wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); return retVal; } + +double ControllerPower::GetVoltage5V() { + int32_t status = 0; + double retVal = HAL_GetUserVoltage5V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + return retVal; +} + +double ControllerPower::GetCurrent5V() { + int32_t status = 0; + double retVal = HAL_GetUserCurrent5V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + return retVal; +} + +bool ControllerPower::GetEnabled5V() { + int32_t status = 0; + bool retVal = HAL_GetUserActive5V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + return retVal; +} + +int ControllerPower::GetFaultCount5V() { + int32_t status = 0; + int retVal = HAL_GetUserCurrentFaults5V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + return retVal; +} + +double ControllerPower::GetVoltage6V() { + int32_t status = 0; + double retVal = HAL_GetUserVoltage6V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + return retVal; +} + +double ControllerPower::GetCurrent6V() { + int32_t status = 0; + double retVal = HAL_GetUserCurrent6V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + return retVal; +} + +bool ControllerPower::GetEnabled6V() { + int32_t status = 0; + bool retVal = HAL_GetUserActive6V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + return retVal; +} + +int ControllerPower::GetFaultCount6V() { + int32_t status = 0; + int retVal = HAL_GetUserCurrentFaults6V(&status); + wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status)); + return retVal; +} diff --git a/wpilibc/src/main/native/cpp/Counter.cpp b/wpilibc/src/main/native/cpp/Counter.cpp index 963f59b4e6..857fcd51ec 100644 --- a/wpilibc/src/main/native/cpp/Counter.cpp +++ b/wpilibc/src/main/native/cpp/Counter.cpp @@ -16,19 +16,6 @@ using namespace frc; -/** - * Create an instance of a counter where no sources are selected. - * - * They all must be selected by calling functions to specify the upsource and - * the downsource independently. - * - * This creates a ChipObject counter and initializes status variables - * appropriately. - * - * The counter will start counting immediately. - * - * @param mode The counter mode - */ Counter::Counter(Mode mode) { int32_t status = 0; m_counter = HAL_InitializeCounter((HAL_Counter_Mode)mode, &m_index, &status); @@ -40,82 +27,26 @@ Counter::Counter(Mode mode) { SetName("Counter", m_index); } -/** - * Create an instance of a counter from a Digital Source (such as a Digital - * Input). - * - * This is used if an existing digital input is to be shared by multiple other - * objects such as encoders or if the Digital Source is not a Digital Input - * channel (such as an Analog Trigger). - * - * The counter will start counting immediately. - * @param source A pointer to the existing DigitalSource object. It will be set - * as the Up Source. - */ -Counter::Counter(DigitalSource* source) : Counter(kTwoPulse) { - SetUpSource(source); - ClearDownSource(); -} - -/** - * Create an instance of a counter from a Digital Source (such as a Digital - * Input). - * - * This is used if an existing digital input is to be shared by multiple other - * objects such as encoders or if the Digital Source is not a Digital Input - * channel (such as an Analog Trigger). - * - * The counter will start counting immediately. - * - * @param source A pointer to the existing DigitalSource object. It will be - * set as the Up Source. - */ -Counter::Counter(std::shared_ptr source) : Counter(kTwoPulse) { - SetUpSource(source); - ClearDownSource(); -} - -/** - * Create an instance of a Counter object. - * - * Create an up-Counter instance given a channel. - * - * The counter will start counting immediately. - * - * @param channel The DIO channel to use as the up source. 0-9 are on-board, - * 10-25 are on the MXP - */ Counter::Counter(int channel) : Counter(kTwoPulse) { SetUpSource(channel); ClearDownSource(); } -/** - * Create an instance of a Counter object. - * - * Create an instance of a simple up-Counter given an analog trigger. - * Use the trigger state output from the analog trigger. - * - * The counter will start counting immediately. - * - * @param trigger The reference to the existing AnalogTrigger object. - */ +Counter::Counter(DigitalSource* source) : Counter(kTwoPulse) { + SetUpSource(source); + ClearDownSource(); +} + +Counter::Counter(std::shared_ptr source) : Counter(kTwoPulse) { + SetUpSource(source); + ClearDownSource(); +} + Counter::Counter(const AnalogTrigger& trigger) : Counter(kTwoPulse) { SetUpSource(trigger.CreateOutput(AnalogTriggerType::kState)); ClearDownSource(); } -/** - * Create an instance of a Counter object. - * - * Creates a full up-down counter given two Digital Sources. - * - * @param encodingType The quadrature decoding mode (1x or 2x) - * @param upSource The pointer to the DigitalSource to set as the up source - * @param downSource The pointer to the DigitalSource to set as the down - * source - * @param inverted True to invert the output (reverse the direction) - */ Counter::Counter(EncodingType encodingType, DigitalSource* upSource, DigitalSource* downSource, bool inverted) : Counter(encodingType, @@ -125,17 +56,6 @@ Counter::Counter(EncodingType encodingType, DigitalSource* upSource, NullDeleter()), inverted) {} -/** - * Create an instance of a Counter object. - * - * Creates a full up-down counter given two Digital Sources. - * - * @param encodingType The quadrature decoding mode (1x or 2x) - * @param upSource The pointer to the DigitalSource to set as the up source - * @param downSource The pointer to the DigitalSource to set as the down - * source - * @param inverted True to invert the output (reverse the direction) - */ Counter::Counter(EncodingType encodingType, std::shared_ptr upSource, std::shared_ptr downSource, bool inverted) @@ -162,9 +82,6 @@ Counter::Counter(EncodingType encodingType, SetDownSourceEdge(inverted, true); } -/** - * Delete the Counter object. - */ Counter::~Counter() { SetUpdateWhenEmpty(true); @@ -174,24 +91,12 @@ Counter::~Counter() { m_counter = HAL_kInvalidHandle; } -/** - * Set the upsource for the counter as a digital input channel. - * - * @param channel The DIO channel to use as the up source. 0-9 are on-board, - * 10-25 are on the MXP - */ void Counter::SetUpSource(int channel) { if (StatusIsFatal()) return; SetUpSource(std::make_shared(channel)); AddChild(m_upSource); } -/** - * Set the up counting source to be an analog trigger. - * - * @param analogTrigger The analog trigger object that is used for the Up Source - * @param triggerType The analog trigger output that will trigger the counter. - */ void Counter::SetUpSource(AnalogTrigger* analogTrigger, AnalogTriggerType triggerType) { SetUpSource(std::shared_ptr(analogTrigger, @@ -199,25 +104,17 @@ void Counter::SetUpSource(AnalogTrigger* analogTrigger, triggerType); } -/** - * Set the up counting source to be an analog trigger. - * - * @param analogTrigger The analog trigger object that is used for the Up Source - * @param triggerType The analog trigger output that will trigger the counter. - */ void Counter::SetUpSource(std::shared_ptr analogTrigger, AnalogTriggerType triggerType) { if (StatusIsFatal()) return; SetUpSource(analogTrigger->CreateOutput(triggerType)); } -/** - * Set the source object that causes the counter to count up. - * - * Set the up counting DigitalSource. - * - * @param source Pointer to the DigitalSource object to set as the up source - */ +void Counter::SetUpSource(DigitalSource* source) { + SetUpSource( + std::shared_ptr(source, NullDeleter())); +} + void Counter::SetUpSource(std::shared_ptr source) { if (StatusIsFatal()) return; m_upSource = source; @@ -233,31 +130,11 @@ void Counter::SetUpSource(std::shared_ptr source) { } } -void Counter::SetUpSource(DigitalSource* source) { - SetUpSource( - std::shared_ptr(source, NullDeleter())); -} - -/** - * Set the source object that causes the counter to count up. - * - * Set the up counting DigitalSource. - * - * @param source Reference to the DigitalSource object to set as the up source - */ void Counter::SetUpSource(DigitalSource& source) { SetUpSource( std::shared_ptr(&source, NullDeleter())); } -/** - * Set the edge sensitivity on an up counting source. - * - * Set the up source to either detect rising edges or falling edges or both. - * - * @param risingEdge True to trigger on rising edges - * @param fallingEdge True to trigger on falling edges - */ void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge) { if (StatusIsFatal()) return; if (m_upSource == nullptr) { @@ -270,9 +147,6 @@ void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Disable the up counting source to the counter. - */ void Counter::ClearUpSource() { if (StatusIsFatal()) return; m_upSource.reset(); @@ -281,25 +155,12 @@ void Counter::ClearUpSource() { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Set the down counting source to be a digital input channel. - * - * @param channel The DIO channel to use as the up source. 0-9 are on-board, - * 10-25 are on the MXP - */ void Counter::SetDownSource(int channel) { if (StatusIsFatal()) return; SetDownSource(std::make_shared(channel)); AddChild(m_downSource); } -/** - * Set the down counting source to be an analog trigger. - * - * @param analogTrigger The analog trigger object that is used for the Down - * Source - * @param triggerType The analog trigger output that will trigger the counter. - */ void Counter::SetDownSource(AnalogTrigger* analogTrigger, AnalogTriggerType triggerType) { SetDownSource(std::shared_ptr(analogTrigger, @@ -307,26 +168,22 @@ void Counter::SetDownSource(AnalogTrigger* analogTrigger, triggerType); } -/** - * Set the down counting source to be an analog trigger. - * - * @param analogTrigger The analog trigger object that is used for the Down - * Source - * @param triggerType The analog trigger output that will trigger the counter. - */ void Counter::SetDownSource(std::shared_ptr analogTrigger, AnalogTriggerType triggerType) { if (StatusIsFatal()) return; SetDownSource(analogTrigger->CreateOutput(triggerType)); } -/** - * Set the source object that causes the counter to count down. - * - * Set the down counting DigitalSource. - * - * @param source Pointer to the DigitalSource object to set as the down source - */ +void Counter::SetDownSource(DigitalSource* source) { + SetDownSource( + std::shared_ptr(source, NullDeleter())); +} + +void Counter::SetDownSource(DigitalSource& source) { + SetDownSource( + std::shared_ptr(&source, NullDeleter())); +} + void Counter::SetDownSource(std::shared_ptr source) { if (StatusIsFatal()) return; m_downSource = source; @@ -342,31 +199,6 @@ void Counter::SetDownSource(std::shared_ptr source) { } } -void Counter::SetDownSource(DigitalSource* source) { - SetDownSource( - std::shared_ptr(source, NullDeleter())); -} - -/** - * Set the source object that causes the counter to count down. - * - * Set the down counting DigitalSource. - * - * @param source Reference to the DigitalSource object to set as the down source - */ -void Counter::SetDownSource(DigitalSource& source) { - SetDownSource( - std::shared_ptr(&source, NullDeleter())); -} - -/** - * Set the edge sensitivity on a down counting source. - * - * Set the down source to either detect rising edges or falling edges. - * - * @param risingEdge True to trigger on rising edges - * @param fallingEdge True to trigger on falling edges - */ void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) { if (StatusIsFatal()) return; if (m_downSource == nullptr) { @@ -379,9 +211,6 @@ void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Disable the down counting source to the counter. - */ void Counter::ClearDownSource() { if (StatusIsFatal()) return; m_downSource.reset(); @@ -390,11 +219,6 @@ void Counter::ClearDownSource() { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Set standard up / down counting mode on this counter. - * - * Up and down counts are sourced independently from two inputs. - */ void Counter::SetUpDownCounterMode() { if (StatusIsFatal()) return; int32_t status = 0; @@ -402,12 +226,6 @@ void Counter::SetUpDownCounterMode() { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Set external direction mode on this counter. - * - * Counts are sourced on the Up counter input. - * The Down counter input represents the direction to count. - */ void Counter::SetExternalDirectionMode() { if (StatusIsFatal()) return; int32_t status = 0; @@ -415,11 +233,6 @@ void Counter::SetExternalDirectionMode() { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Set Semi-period mode on this counter. - * - * Counts up on both rising and falling edges. - */ void Counter::SetSemiPeriodMode(bool highSemiPeriod) { if (StatusIsFatal()) return; int32_t status = 0; @@ -427,15 +240,6 @@ void Counter::SetSemiPeriodMode(bool highSemiPeriod) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Configure the counter to count in up or down based on the length of the input - * pulse. - * - * This mode is most useful for direction sensitive gear tooth sensors. - * - * @param threshold The pulse length beyond which the counter counts the - * opposite direction. Units are seconds. - */ void Counter::SetPulseLengthMode(double threshold) { if (StatusIsFatal()) return; int32_t status = 0; @@ -443,29 +247,13 @@ void Counter::SetPulseLengthMode(double threshold) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * 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 The number of samples being averaged (from 1 to 127) - */ -int Counter::GetSamplesToAverage() const { +void Counter::SetReverseDirection(bool reverseDirection) { + if (StatusIsFatal()) return; int32_t status = 0; - int samples = HAL_GetCounterSamplesToAverage(m_counter, &status); + HAL_SetCounterReverseDirection(m_counter, reverseDirection, &status); wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - return samples; } -/** - * 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. - */ void Counter::SetSamplesToAverage(int samplesToAverage) { if (samplesToAverage < 1 || samplesToAverage > 127) { wpi_setWPIErrorWithContext( @@ -477,12 +265,15 @@ void Counter::SetSamplesToAverage(int samplesToAverage) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Read the current counter value. - * - * Read the value at this instant. It may still be running, so it reflects the - * current value. Next time it is read, it might have a different value. - */ +int Counter::GetSamplesToAverage() const { + int32_t status = 0; + int samples = HAL_GetCounterSamplesToAverage(m_counter, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + return samples; +} + +int Counter::GetFPGAIndex() const { return m_index; } + int Counter::Get() const { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -491,12 +282,6 @@ int Counter::Get() const { return value; } -/** - * Reset the Counter to zero. - * - * Set the counter value to zero. This doesn't effect the running state of the - * counter, just sets the current value to zero. - */ void Counter::Reset() { if (StatusIsFatal()) return; int32_t status = 0; @@ -504,14 +289,6 @@ void Counter::Reset() { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Get the Period of the most recent count. - * - * Returns the time interval of the most recent count. This can be used for - * velocity calculations to determine shaft speed. - * - * @returns The period between the last two pulses in units of seconds. - */ double Counter::GetPeriod() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; @@ -520,16 +297,6 @@ double Counter::GetPeriod() const { return value; } -/** - * Set the maximum period where the device is still considered "moving". - * - * Sets the maximum period where the device is considered moving. This value is - * used to determine the "stopped" state of the counter using the GetStopped - * method. - * - * @param maxPeriod The maximum period where the counted device is considered - * moving in seconds. - */ void Counter::SetMaxPeriod(double maxPeriod) { if (StatusIsFatal()) return; int32_t status = 0; @@ -537,23 +304,6 @@ void Counter::SetMaxPeriod(double maxPeriod) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Select whether you want to continue updating the event timer output when - * there are no samples captured. - * - * The output of the event timer has a buffer of periods that are averaged and - * posted to a register on the FPGA. When the timer detects that the event - * source has stopped (based on the MaxPeriod) the buffer of samples to be - * averaged is emptied. If you enable the update when empty, you will be - * notified of the stopped source and the event time will report 0 samples. - * If you disable update when empty, the most recent average will remain on - * the output until a new sample is acquired. You will never see 0 samples - * output (except when there have been no events since an FPGA reset) and you - * will likely not see the stopped bit become true (since it is updated at the - * end of an average and there are no samples to average). - * - * @param enabled True to enable update when empty - */ void Counter::SetUpdateWhenEmpty(bool enabled) { if (StatusIsFatal()) return; int32_t status = 0; @@ -561,16 +311,6 @@ void Counter::SetUpdateWhenEmpty(bool enabled) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Determine if the clock is stopped. - * - * Determine if the clocked input is stopped based on the MaxPeriod value set - * using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the - * device (and counter) are assumed to be stopped and it returns true. - * - * @return Returns true if the most recent counter period exceeds the MaxPeriod - * value set by SetMaxPeriod. - */ bool Counter::GetStopped() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -579,11 +319,6 @@ bool Counter::GetStopped() const { return value; } -/** - * The last direction the counter value changed. - * - * @return The last direction the counter value changed. - */ bool Counter::GetDirection() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -592,21 +327,6 @@ bool Counter::GetDirection() const { return value; } -/** - * Set the Counter to return reversed sensing on the direction. - * - * This allows counters to change the direction they are counting in the case of - * 1X and 2X quadrature encoding only. Any other counter mode isn't supported. - * - * @param reverseDirection true if the value counted should be negated. - */ -void Counter::SetReverseDirection(bool reverseDirection) { - if (StatusIsFatal()) return; - int32_t status = 0; - HAL_SetCounterReverseDirection(m_counter, reverseDirection, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); -} - void Counter::InitSendable(SendableBuilder& builder) { builder.SetSmartDashboardType("Counter"); builder.AddDoubleProperty("Value", [=]() { return Get(); }, nullptr); diff --git a/wpilibc/src/main/native/cpp/DMC60.cpp b/wpilibc/src/main/native/cpp/DMC60.cpp index 29dc5b8898..dd0a5604e6 100644 --- a/wpilibc/src/main/native/cpp/DMC60.cpp +++ b/wpilibc/src/main/native/cpp/DMC60.cpp @@ -11,14 +11,8 @@ using namespace frc; -/** - * Constructor for a Digilent DMC 60. - * - * @param channel The PWM channel that the DMC 60 is attached to. 0-9 are - * on-board, 10-19 are on the MXP port - */ DMC60::DMC60(int channel) : PWMSpeedController(channel) { - /** + /* * Note that the DMC 60 uses the following bounds for PWM values. These * values should work reasonably well for most controllers, but if users * experience issues such as asymmetric behavior around the deadband or diff --git a/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp b/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp index 197a2b8d3c..d361cd3a59 100644 --- a/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp +++ b/wpilibc/src/main/native/cpp/DigitalGlitchFilter.cpp @@ -46,11 +46,6 @@ DigitalGlitchFilter::~DigitalGlitchFilter() { } } -/** - * Assigns the DigitalSource to this glitch filter. - * - * @param input The DigitalSource to add. - */ void DigitalGlitchFilter::Add(DigitalSource* input) { DoAdd(input, m_channelIndex + 1); } @@ -80,11 +75,6 @@ void DigitalGlitchFilter::DoAdd(DigitalSource* input, int requestedIndex) { } } -/** - * Assigns the Encoder to this glitch filter. - * - * @param input The Encoder to add. - */ void DigitalGlitchFilter::Add(Encoder* input) { Add(input->m_aSource.get()); if (StatusIsFatal()) { @@ -93,11 +83,6 @@ void DigitalGlitchFilter::Add(Encoder* input) { Add(input->m_bSource.get()); } -/** - * Assigns the Counter to this glitch filter. - * - * @param input The Counter to add. - */ void DigitalGlitchFilter::Add(Counter* input) { Add(input->m_upSource.get()); if (StatusIsFatal()) { @@ -106,24 +91,8 @@ void DigitalGlitchFilter::Add(Counter* input) { Add(input->m_downSource.get()); } -/** - * Removes a digital input from this filter. - * - * Removes the DigitalSource from this glitch filter and re-assigns it to - * the default filter. - * - * @param input The DigitalSource to remove. - */ void DigitalGlitchFilter::Remove(DigitalSource* input) { DoAdd(input, 0); } -/** - * Removes an encoder from this filter. - * - * Removes the Encoder from this glitch filter and re-assigns it to - * the default filter. - * - * @param input The Encoder to remove. - */ void DigitalGlitchFilter::Remove(Encoder* input) { Remove(input->m_aSource.get()); if (StatusIsFatal()) { @@ -132,14 +101,6 @@ void DigitalGlitchFilter::Remove(Encoder* input) { Remove(input->m_bSource.get()); } -/** - * Removes a counter from this filter. - * - * Removes the Counter from this glitch filter and re-assigns it to - * the default filter. - * - * @param input The Counter to remove. - */ void DigitalGlitchFilter::Remove(Counter* input) { Remove(input->m_upSource.get()); if (StatusIsFatal()) { @@ -148,22 +109,12 @@ void DigitalGlitchFilter::Remove(Counter* input) { Remove(input->m_downSource.get()); } -/** - * Sets the number of cycles that the input must not change state for. - * - * @param fpgaCycles The number of FPGA cycles. - */ void DigitalGlitchFilter::SetPeriodCycles(int fpgaCycles) { int32_t status = 0; HAL_SetFilterPeriod(m_channelIndex, fpgaCycles, &status); wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Sets the number of nanoseconds that the input must not change state for. - * - * @param nanoseconds The number of nanoseconds. - */ void DigitalGlitchFilter::SetPeriodNanoSeconds(uint64_t nanoseconds) { int32_t status = 0; int fpgaCycles = @@ -173,11 +124,6 @@ void DigitalGlitchFilter::SetPeriodNanoSeconds(uint64_t nanoseconds) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Gets the number of cycles that the input must not change state for. - * - * @return The number of cycles. - */ int DigitalGlitchFilter::GetPeriodCycles() { int32_t status = 0; int fpgaCycles = HAL_GetFilterPeriod(m_channelIndex, &status); @@ -187,11 +133,6 @@ int DigitalGlitchFilter::GetPeriodCycles() { return fpgaCycles; } -/** - * Gets the number of nanoseconds that the input must not change state for. - * - * @return The number of nanoseconds. - */ uint64_t DigitalGlitchFilter::GetPeriodNanoSeconds() { int32_t status = 0; int fpgaCycles = HAL_GetFilterPeriod(m_channelIndex, &status); diff --git a/wpilibc/src/main/native/cpp/DigitalInput.cpp b/wpilibc/src/main/native/cpp/DigitalInput.cpp index 7d53807606..a1fee59643 100644 --- a/wpilibc/src/main/native/cpp/DigitalInput.cpp +++ b/wpilibc/src/main/native/cpp/DigitalInput.cpp @@ -19,13 +19,6 @@ using namespace frc; -/** - * Create an instance of a Digital Input class. - * - * Creates a digital input given a channel. - * - * @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port - */ DigitalInput::DigitalInput(int channel) { if (!SensorUtil::CheckDigitalChannel(channel)) { wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, @@ -49,9 +42,6 @@ DigitalInput::DigitalInput(int channel) { SetName("DigitalInput", channel); } -/** - * Free resources associated with the Digital Input class. - */ DigitalInput::~DigitalInput() { if (StatusIsFatal()) return; if (m_interrupt != HAL_kInvalidHandle) { @@ -64,11 +54,6 @@ DigitalInput::~DigitalInput() { HAL_FreeDIOPort(m_handle); } -/** - * Get the value from a digital input channel. - * - * Retrieve the value of a single digital input channel from the FPGA. - */ bool DigitalInput::Get() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -77,28 +62,16 @@ bool DigitalInput::Get() const { return value; } -/** - * @return The GPIO channel number that this object represents. - */ -int DigitalInput::GetChannel() const { return m_channel; } - -/** - * @return The HAL Handle to the specified source. - */ HAL_Handle DigitalInput::GetPortHandleForRouting() const { return m_handle; } -/** - * Is source an AnalogTrigger - */ -bool DigitalInput::IsAnalogTrigger() const { return false; } - -/** - * @return The type of analog trigger output to be used. 0 for Digitals - */ AnalogTriggerType DigitalInput::GetAnalogTriggerTypeForRouting() const { return (AnalogTriggerType)0; } +bool DigitalInput::IsAnalogTrigger() const { return false; } + +int DigitalInput::GetChannel() const { return m_channel; } + void DigitalInput::InitSendable(SendableBuilder& builder) { builder.SetSmartDashboardType("Digital Input"); builder.AddBooleanProperty("Value", [=]() { return Get(); }, nullptr); diff --git a/wpilibc/src/main/native/cpp/DigitalOutput.cpp b/wpilibc/src/main/native/cpp/DigitalOutput.cpp index 9837ee1df5..28b517d40a 100644 --- a/wpilibc/src/main/native/cpp/DigitalOutput.cpp +++ b/wpilibc/src/main/native/cpp/DigitalOutput.cpp @@ -19,14 +19,6 @@ using namespace frc; -/** - * Create an instance of a digital output. - * - * Create a digital output given a channel. - * - * @param channel The digital channel 0-9 are on-board, 10-25 are on the MXP - * port - */ DigitalOutput::DigitalOutput(int channel) { m_pwmGenerator = HAL_kInvalidHandle; if (!SensorUtil::CheckDigitalChannel(channel)) { @@ -51,9 +43,6 @@ DigitalOutput::DigitalOutput(int channel) { SetName("DigitalOutput", channel); } -/** - * Free the resources associated with a digital output. - */ DigitalOutput::~DigitalOutput() { if (StatusIsFatal()) return; // Disable the PWM in case it was running. @@ -62,13 +51,6 @@ DigitalOutput::~DigitalOutput() { HAL_FreeDIOPort(m_handle); } -/** - * Set the value of a digital output. - * - * Set the value of a digital output to either one (true) or zero (false). - * - * @param value 1 (true) for high, 0 (false) for disabled - */ void DigitalOutput::Set(bool value) { if (StatusIsFatal()) return; @@ -77,11 +59,6 @@ void DigitalOutput::Set(bool value) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Gets the value being output from the Digital Output. - * - * @return the state of the digital output. - */ bool DigitalOutput::Get() const { if (StatusIsFatal()) return false; @@ -91,19 +68,8 @@ bool DigitalOutput::Get() const { return val; } -/** - * @return The GPIO channel number that this object represents. - */ int DigitalOutput::GetChannel() const { return m_channel; } -/** - * Output a single pulse on the digital output line. - * - * Send a single pulse on the digital output line where the pulse duration is - * specified in seconds. Maximum pulse length is 0.0016 seconds. - * - * @param length The pulse length in seconds - */ void DigitalOutput::Pulse(double length) { if (StatusIsFatal()) return; @@ -112,11 +78,6 @@ void DigitalOutput::Pulse(double length) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Determine if the pulse is still going. - * - * Determine if a previously started pulse is still going. - */ bool DigitalOutput::IsPulsing() const { if (StatusIsFatal()) return false; @@ -126,16 +87,6 @@ bool DigitalOutput::IsPulsing() const { return value; } -/** - * Change the PWM frequency of the PWM output on a Digital Output line. - * - * The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is - * logarithmic. - * - * There is only one PWM frequency for all digital channels. - * - * @param rate The frequency to output all digital output PWM signals. - */ void DigitalOutput::SetPWMRate(double rate) { if (StatusIsFatal()) return; @@ -144,19 +95,6 @@ void DigitalOutput::SetPWMRate(double rate) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Enable a PWM Output on this line. - * - * Allocate one of the 6 DO PWM generator resources from this module. - * - * Supply the initial duty-cycle to output so as to avoid a glitch when first - * starting. - * - * The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) - * but is reduced the higher the frequency of the PWM signal is. - * - * @param initialDutyCycle The duty-cycle to start generating. [0..1] - */ void DigitalOutput::EnablePWM(double initialDutyCycle) { if (m_pwmGenerator != HAL_kInvalidHandle) return; @@ -175,11 +113,6 @@ void DigitalOutput::EnablePWM(double initialDutyCycle) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Change this line from a PWM output back to a static Digital Output line. - * - * Free up one of the 6 DO PWM generator resources that were in use. - */ void DigitalOutput::DisablePWM() { if (StatusIsFatal()) return; if (m_pwmGenerator == HAL_kInvalidHandle) return; @@ -197,14 +130,6 @@ void DigitalOutput::DisablePWM() { m_pwmGenerator = HAL_kInvalidHandle; } -/** - * Change the duty-cycle that is being generated on the line. - * - * The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) - * but is reduced the higher the frequency of the PWM signal is. - * - * @param dutyCycle The duty-cycle to change to. [0..1] - */ void DigitalOutput::UpdateDutyCycle(double dutyCycle) { if (StatusIsFatal()) return; diff --git a/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp b/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp index 87e548cad1..9f157744b0 100644 --- a/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp +++ b/wpilibc/src/main/native/cpp/DoubleSolenoid.cpp @@ -17,25 +17,10 @@ using namespace frc; -/** - * Constructor. - * - * Uses the default PCM ID of 0. - * - * @param forwardChannel The forward channel number on the PCM (0..7). - * @param reverseChannel The reverse channel number on the PCM (0..7). - */ DoubleSolenoid::DoubleSolenoid(int forwardChannel, int reverseChannel) : DoubleSolenoid(SensorUtil::GetDefaultSolenoidModule(), forwardChannel, reverseChannel) {} -/** - * Constructor. - * - * @param moduleNumber The CAN ID of the PCM. - * @param forwardChannel The forward channel on the PCM to control (0..7). - * @param reverseChannel The reverse channel on the PCM to control (0..7). - */ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel, int reverseChannel) : SolenoidBase(moduleNumber), @@ -91,19 +76,11 @@ DoubleSolenoid::DoubleSolenoid(int moduleNumber, int forwardChannel, SetName("DoubleSolenoid", m_moduleNumber, m_forwardChannel); } -/** - * Destructor. - */ DoubleSolenoid::~DoubleSolenoid() { HAL_FreeSolenoidPort(m_forwardHandle); HAL_FreeSolenoidPort(m_reverseHandle); } -/** - * Set the value of a solenoid. - * - * @param value The value to set (Off, Forward or Reverse) - */ void DoubleSolenoid::Set(Value value) { if (StatusIsFatal()) return; @@ -132,11 +109,6 @@ void DoubleSolenoid::Set(Value value) { wpi_setErrorWithContext(rstatus, HAL_GetErrorMessage(rstatus)); } -/** - * Read the current value of the solenoid. - * - * @return The current value of the solenoid. - */ DoubleSolenoid::Value DoubleSolenoid::Get() const { if (StatusIsFatal()) return kOff; int fstatus = 0; @@ -152,29 +124,11 @@ DoubleSolenoid::Value DoubleSolenoid::Get() const { return kOff; } -/** - * Check if the forward solenoid is blacklisted. - * - * If a solenoid is shorted, it is added to the blacklist and - * disabled until power cycle, or until faults are cleared. - * @see ClearAllPCMStickyFaults() - * - * @return If solenoid is disabled due to short. - */ bool DoubleSolenoid::IsFwdSolenoidBlackListed() const { int blackList = GetPCMSolenoidBlackList(m_moduleNumber); return (blackList & m_forwardMask) != 0; } -/** - * Check if the reverse solenoid is blacklisted. - * - * If a solenoid is shorted, it is added to the blacklist and - * disabled until power cycle, or until faults are cleared. - * - * @see ClearAllPCMStickyFaults() - * @return If solenoid is disabled due to short. - */ bool DoubleSolenoid::IsRevSolenoidBlackListed() const { int blackList = GetPCMSolenoidBlackList(m_moduleNumber); return (blackList & m_reverseMask) != 0; diff --git a/wpilibc/src/main/native/cpp/Drive/DifferentialDrive.cpp b/wpilibc/src/main/native/cpp/Drive/DifferentialDrive.cpp index 6143565435..a12a4af98f 100644 --- a/wpilibc/src/main/native/cpp/Drive/DifferentialDrive.cpp +++ b/wpilibc/src/main/native/cpp/Drive/DifferentialDrive.cpp @@ -17,12 +17,6 @@ using namespace frc; -/** - * Construct a DifferentialDrive. - * - * To pass multiple motors per side, use a SpeedControllerGroup. If a motor - * needs to be inverted, do so before passing it in. - */ DifferentialDrive::DifferentialDrive(SpeedController& leftMotor, SpeedController& rightMotor) : m_leftMotor(leftMotor), m_rightMotor(rightMotor) { @@ -33,18 +27,6 @@ DifferentialDrive::DifferentialDrive(SpeedController& leftMotor, SetName("DifferentialDrive", instances); } -/** - * Arcade drive method for differential drive platform. - * - * Note: Some drivers may prefer inverted rotation controls. This can be done by - * negating the value passed for rotation. - * - * @param xSpeed The speed at which the robot should drive along the X - * axis [-1.0..1.0]. Forward is negative. - * @param zRotation The rotation rate of the robot around the Z axis - * [-1.0..1.0]. Clockwise is positive. - * @param squaredInputs If set, decreases the input sensitivity at low speeds. - */ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation, bool squaredInputs) { static bool reported = false; @@ -100,21 +82,6 @@ void DifferentialDrive::ArcadeDrive(double xSpeed, double zRotation, m_safetyHelper.Feed(); } -/** - * Curvature drive method for differential drive platform. - * - * The rotation argument controls the curvature of the robot's path rather than - * its rate of heading change. This makes the robot more controllable at high - * speeds. Also handles the robot's quick turn functionality - "quick turn" - * overrides constant-curvature turning for turn-in-place maneuvers. - * - * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is - * positive. - * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. - * Clockwise is positive. - * @param isQuickTurn If set, overrides constant-curvature turning for - * turn-in-place maneuvers. - */ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation, bool isQuickTurn) { static bool reported = false; @@ -188,15 +155,6 @@ void DifferentialDrive::CurvatureDrive(double xSpeed, double zRotation, m_safetyHelper.Feed(); } -/** - * Tank drive method for differential drive platform. - * - * @param leftSpeed The robot left side's speed along the X axis - * [-1.0..1.0]. Forward is positive. - * @param rightSpeed The robot right side's speed along the X axis - * [-1.0..1.0]. Forward is positive. - * @param squaredInputs If set, decreases the input sensitivity at low speeds. - */ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed, bool squaredInputs) { static bool reported = false; @@ -225,55 +183,18 @@ void DifferentialDrive::TankDrive(double leftSpeed, double rightSpeed, m_safetyHelper.Feed(); } -/** - * Sets the QuickStop speed threshold in curvature drive. - * - * QuickStop compensates for the robot's moment of inertia when stopping after a - * QuickTurn. - * - * While QuickTurn is enabled, the QuickStop accumulator takes on the rotation - * rate value outputted by the low-pass filter when the robot's speed along the - * X axis is below the threshold. When QuickTurn is disabled, the accumulator's - * value is applied against the computed angular power request to slow the - * robot's rotation. - * - * @param threshold X speed below which quick stop accumulator will receive - * rotation rate values [0..1.0]. - */ void DifferentialDrive::SetQuickStopThreshold(double threshold) { m_quickStopThreshold = threshold; } -/** - * Sets the low-pass filter gain for QuickStop in curvature drive. - * - * The low-pass filter filters incoming rotation rate commands to smooth out - * high frequency changes. - * - * @param alpha Low-pass filter gain [0.0..2.0]. Smaller values result in slower - * output changes. Values between 1.0 and 2.0 result in output - * oscillation. Values below 0.0 and above 2.0 are unstable. - */ void DifferentialDrive::SetQuickStopAlpha(double alpha) { m_quickStopAlpha = alpha; } -/** - * Gets if the power sent to the right side of the drivetrain is multipled by - * -1. - * - * @return true if the right side is inverted - */ bool DifferentialDrive::IsRightSideInverted() const { return m_rightSideInvertMultiplier == -1.0; } -/** - * Sets if the power sent to the right side of the drivetrain should be - * multipled by -1. - * - * @param rightSideInverted true if right side power should be multipled by -1 - */ void DifferentialDrive::SetRightSideInverted(bool rightSideInverted) { m_rightSideInvertMultiplier = rightSideInverted ? -1.0 : 1.0; } diff --git a/wpilibc/src/main/native/cpp/Drive/KilloughDrive.cpp b/wpilibc/src/main/native/cpp/Drive/KilloughDrive.cpp index a5a165c095..9ccc165ff8 100644 --- a/wpilibc/src/main/native/cpp/Drive/KilloughDrive.cpp +++ b/wpilibc/src/main/native/cpp/Drive/KilloughDrive.cpp @@ -19,39 +19,12 @@ using namespace frc; constexpr double kPi = 3.14159265358979323846; -/** - * Construct a Killough drive with the given motors and default motor angles. - * - * The default motor angles make the wheels on each corner parallel to their - * respective opposite sides. - * - * If a motor needs to be inverted, do so before passing it in. - * - * @param leftMotor The motor on the left corner. - * @param rightMotor The motor on the right corner. - * @param backMotor The motor on the back corner. - */ KilloughDrive::KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor, SpeedController& backMotor) : KilloughDrive(leftMotor, rightMotor, backMotor, kDefaultLeftMotorAngle, kDefaultRightMotorAngle, kDefaultBackMotorAngle) {} -/** - * Construct a Killough drive with the given motors. - * - * Angles are measured in degrees clockwise from the positive X axis. - * - * @param leftMotor The motor on the left corner. - * @param rightMotor The motor on the right corner. - * @param backMotor The motor on the back corner. - * @param leftMotorAngle The angle of the left wheel's forward direction of - * travel. - * @param rightMotorAngle The angle of the right wheel's forward direction of - * travel. - * @param backMotorAngle The angle of the back wheel's forward direction of - * travel. - */ KilloughDrive::KilloughDrive(SpeedController& leftMotor, SpeedController& rightMotor, SpeedController& backMotor, double leftMotorAngle, @@ -71,21 +44,6 @@ KilloughDrive::KilloughDrive(SpeedController& leftMotor, SetName("KilloughDrive", instances); } -/** - * Drive method for Killough platform. - * - * Angles are measured clockwise from the positive X axis. The robot's speed is - * independent from its angle or rotation rate. - * - * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is - * positive. - * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is - * positive. - * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. - * Clockwise is positive. - * @param gyroAngle The current angle reading from the gyro in degrees around - * the Z axis. Use this to implement field-oriented controls. - */ void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed, double zRotation, double gyroAngle) { if (!reported) { @@ -118,19 +76,6 @@ void KilloughDrive::DriveCartesian(double ySpeed, double xSpeed, m_safetyHelper.Feed(); } -/** - * Drive method for Killough platform. - * - * Angles are measured clockwise from the positive X axis. The robot's speed is - * independent from its angle or rotation rate. - * - * @param magnitude The robot's speed at a given angle [-1.0..1.0]. Forward is - * positive. - * @param angle The angle around the Z axis at which the robot drives in - * degrees [-180..180]. - * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. - * Clockwise is positive. - */ void KilloughDrive::DrivePolar(double magnitude, double angle, double zRotation) { if (!reported) { diff --git a/wpilibc/src/main/native/cpp/Drive/MecanumDrive.cpp b/wpilibc/src/main/native/cpp/Drive/MecanumDrive.cpp index c378a72115..f972139de2 100644 --- a/wpilibc/src/main/native/cpp/Drive/MecanumDrive.cpp +++ b/wpilibc/src/main/native/cpp/Drive/MecanumDrive.cpp @@ -20,11 +20,6 @@ using namespace frc; constexpr double kPi = 3.14159265358979323846; -/** - * Construct a MecanumDrive. - * - * If a motor needs to be inverted, do so before passing it in. - */ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor, SpeedController& rearLeftMotor, SpeedController& frontRightMotor, @@ -42,21 +37,6 @@ MecanumDrive::MecanumDrive(SpeedController& frontLeftMotor, SetName("MecanumDrive", instances); } -/** - * Drive method for Mecanum platform. - * - * Angles are measured clockwise from the positive X axis. The robot's speed is - * independent from its angle or rotation rate. - * - * @param ySpeed The robot's speed along the Y axis [-1.0..1.0]. Right is - * positive. - * @param xSpeed The robot's speed along the X axis [-1.0..1.0]. Forward is - * positive. - * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. - * Clockwise is positive. - * @param gyroAngle The current angle reading from the gyro in degrees around - * the Z axis. Use this to implement field-oriented controls. - */ void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed, double zRotation, double gyroAngle) { if (!reported) { @@ -93,19 +73,6 @@ void MecanumDrive::DriveCartesian(double ySpeed, double xSpeed, m_safetyHelper.Feed(); } -/** - * Drive method for Mecanum platform. - * - * Angles are measured clockwise from the positive X axis. The robot's speed is - * independent from its angle or rotation rate. - * - * @param magnitude The robot's speed at a given angle [-1.0..1.0]. Forward is - * positive. - * @param angle The angle around the Z axis at which the robot drives in - * degrees [-180..180]. - * @param zRotation The robot's rotation rate around the Z axis [-1.0..1.0]. - * Clockwise is positive. - */ void MecanumDrive::DrivePolar(double magnitude, double angle, double zRotation) { if (!reported) { @@ -118,22 +85,10 @@ void MecanumDrive::DrivePolar(double magnitude, double angle, magnitude * std::cos(angle * (kPi / 180.0)), zRotation, 0.0); } -/** - * Gets if the power sent to the right side of the drivetrain is multipled by - * -1. - * - * @return true if the right side is inverted - */ bool MecanumDrive::IsRightSideInverted() const { return m_rightSideInvertMultiplier == -1.0; } -/** - * Sets if the power sent to the right side of the drivetrain should be - * multipled by -1. - * - * @param rightSideInverted true if right side power should be multipled by -1 - */ void MecanumDrive::SetRightSideInverted(bool rightSideInverted) { m_rightSideInvertMultiplier = rightSideInverted ? -1.0 : 1.0; } diff --git a/wpilibc/src/main/native/cpp/Drive/RobotDriveBase.cpp b/wpilibc/src/main/native/cpp/Drive/RobotDriveBase.cpp index 702ee1b395..f1a3efcd3b 100644 --- a/wpilibc/src/main/native/cpp/Drive/RobotDriveBase.cpp +++ b/wpilibc/src/main/native/cpp/Drive/RobotDriveBase.cpp @@ -20,32 +20,10 @@ using namespace frc; RobotDriveBase::RobotDriveBase() { m_safetyHelper.SetSafetyEnabled(true); } -/** - * Sets the deadband applied to the drive inputs (e.g., joystick values). - * - * The default value is 0.02. Inputs smaller than the deadband are set to 0.0 - * while inputs larger than the deadband are scaled from 0.0 to 1.0. See - * ApplyDeadband(). - * - * @param deadband The deadband to set. - */ void RobotDriveBase::SetDeadband(double deadband) { m_deadband = deadband; } -/** - * Configure the scaling factor for using RobotDrive with motor controllers in a - * mode other than PercentVbus or to limit the maximum output. - * - * @param maxOutput Multiplied with the output percentage computed by the drive - * functions. - */ void RobotDriveBase::SetMaxOutput(double maxOutput) { m_maxOutput = maxOutput; } -/** - * Feed the motor safety object. Resets the timer that will stop the motors if - * it completes. - * - * @see MotorSafetyHelper::Feed() - */ void RobotDriveBase::FeedWatchdog() { m_safetyHelper.Feed(); } void RobotDriveBase::SetExpiration(double timeout) { @@ -66,9 +44,6 @@ void RobotDriveBase::SetSafetyEnabled(bool enabled) { m_safetyHelper.SetSafetyEnabled(enabled); } -/** - * Limit motor values to the -1.0 to +1.0 range. - */ double RobotDriveBase::Limit(double value) { if (value > 1.0) { return 1.0; @@ -79,13 +54,6 @@ double RobotDriveBase::Limit(double value) { return value; } -/** - * Returns 0.0 if the given value is within the specified range around zero. The - * remaining range between the deadband and 1.0 is scaled from 0.0 to 1.0. - * - * @param value value to clip - * @param deadband range around zero - */ double RobotDriveBase::ApplyDeadband(double value, double deadband) { if (std::abs(value) > deadband) { if (value > 0.0) { @@ -98,9 +66,6 @@ double RobotDriveBase::ApplyDeadband(double value, double deadband) { } } -/** - * Normalize all wheel speeds if the magnitude of any wheel is greater than 1.0. - */ void RobotDriveBase::Normalize(wpi::MutableArrayRef wheelSpeeds) { double maxMagnitude = std::abs(wheelSpeeds[0]); for (size_t i = 1; i < wheelSpeeds.size(); i++) { diff --git a/wpilibc/src/main/native/cpp/Drive/Vector2d.cpp b/wpilibc/src/main/native/cpp/Drive/Vector2d.cpp index 7c264867b8..5b119c15b2 100644 --- a/wpilibc/src/main/native/cpp/Drive/Vector2d.cpp +++ b/wpilibc/src/main/native/cpp/Drive/Vector2d.cpp @@ -18,11 +18,6 @@ Vector2d::Vector2d(double x, double y) { this->y = y; } -/** - * Rotate a vector in Cartesian space. - * - * @param angle angle in degrees by which to rotate vector counter-clockwise. - */ void Vector2d::Rotate(double angle) { double cosA = std::cos(angle * (kPi / 180.0)); double sinA = std::sin(angle * (kPi / 180.0)); @@ -33,25 +28,12 @@ void Vector2d::Rotate(double angle) { y = out[1]; } -/** - * Returns dot product of this vector with argument. - * - * @param vec Vector with which to perform dot product. - */ double Vector2d::Dot(const Vector2d& vec) const { return x * vec.x + y * vec.y; } -/** - * Returns magnitude of vector. - */ double Vector2d::Magnitude() const { return std::sqrt(x * x + y * y); } -/** - * Returns scalar projection of this vector onto argument. - * - * @param vec Vector onto which to project this vector. - */ double Vector2d::ScalarProject(const Vector2d& vec) const { return Dot(vec) / vec.Magnitude(); } diff --git a/wpilibc/src/main/native/cpp/DriverStation.cpp b/wpilibc/src/main/native/cpp/DriverStation.cpp index fa5a1302d2..1a38faabd4 100644 --- a/wpilibc/src/main/native/cpp/DriverStation.cpp +++ b/wpilibc/src/main/native/cpp/DriverStation.cpp @@ -81,43 +81,23 @@ DriverStation::~DriverStation() { m_dsThread.join(); } -/** - * Return a pointer to the singleton DriverStation. - * - * @return Pointer to the DS instance - */ DriverStation& DriverStation::GetInstance() { static DriverStation instance; return instance; } -/** - * Report an error to the DriverStation messages window. - * - * The error is also printed to the program console. - */ void DriverStation::ReportError(const wpi::Twine& error) { wpi::SmallString<128> temp; HAL_SendError(1, 1, 0, error.toNullTerminatedStringRef(temp).data(), "", "", 1); } -/** - * Report a warning to the DriverStation messages window. - * - * The warning is also printed to the program console. - */ void DriverStation::ReportWarning(const wpi::Twine& error) { wpi::SmallString<128> temp; HAL_SendError(0, 1, 0, error.toNullTerminatedStringRef(temp).data(), "", "", 1); } -/** - * Report an error to the DriverStation messages window. - * - * The error is also printed to the program console. - */ void DriverStation::ReportError(bool isError, int32_t code, const wpi::Twine& error, const wpi::Twine& location, @@ -131,13 +111,6 @@ void DriverStation::ReportError(bool isError, int32_t code, stack.toNullTerminatedStringRef(stackTemp).data(), 1); } -/** - * The state of one joystick button. Button indexes begin at 1. - * - * @param stick The joystick to read. - * @param button The button index, beginning at 1. - * @return The state of the joystick button. - */ bool DriverStation::GetStickButton(int stick, int button) { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -161,14 +134,6 @@ bool DriverStation::GetStickButton(int stick, int button) { return m_joystickButtons[stick].buttons & 1 << (button - 1); } -/** - * Whether one joystick button was pressed since the last check. Button indexes - * begin at 1. - * - * @param stick The joystick to read. - * @param button The button index, beginning at 1. - * @return Whether the joystick button was pressed since the last check. - */ bool DriverStation::GetStickButtonPressed(int stick, int button) { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -198,14 +163,6 @@ bool DriverStation::GetStickButtonPressed(int stick, int button) { } } -/** - * Whether one joystick button was released since the last check. Button indexes - * begin at 1. - * - * @param stick The joystick to read. - * @param button The button index, beginning at 1. - * @return Whether the joystick button was released since the last check. - */ bool DriverStation::GetStickButtonReleased(int stick, int button) { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -235,15 +192,6 @@ bool DriverStation::GetStickButtonReleased(int stick, int button) { } } -/** - * Get the value of the axis on a joystick. - * - * This depends on the mapping of the joystick connected to the specified port. - * - * @param stick The joystick to read. - * @param axis The analog axis value to read from the joystick. - * @return The value of the axis on the joystick. - */ double DriverStation::GetStickAxis(int stick, int axis) { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -266,11 +214,6 @@ double DriverStation::GetStickAxis(int stick, int axis) { return m_joystickAxes[stick].axes[axis]; } -/** - * Get the state of a POV on the joystick. - * - * @return the angle of the POV in degrees, or -1 if the POV is not pressed. - */ int DriverStation::GetStickPOV(int stick, int pov) { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -293,12 +236,6 @@ int DriverStation::GetStickPOV(int stick, int pov) { return m_joystickPOVs[stick].povs[pov]; } -/** - * The state of the buttons on the joystick. - * - * @param stick The joystick to read. - * @return The state of the buttons on the joystick. - */ int DriverStation::GetStickButtons(int stick) const { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -309,12 +246,6 @@ int DriverStation::GetStickButtons(int stick) const { return m_joystickButtons[stick].buttons; } -/** - * Returns the number of axes on a given joystick port. - * - * @param stick The joystick port number - * @return The number of axes on the indicated joystick - */ int DriverStation::GetStickAxisCount(int stick) const { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -325,12 +256,6 @@ int DriverStation::GetStickAxisCount(int stick) const { return m_joystickAxes[stick].count; } -/** - * Returns the number of POVs on a given joystick port. - * - * @param stick The joystick port number - * @return The number of POVs on the indicated joystick - */ int DriverStation::GetStickPOVCount(int stick) const { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -341,12 +266,6 @@ int DriverStation::GetStickPOVCount(int stick) const { return m_joystickPOVs[stick].count; } -/** - * Returns the number of buttons on a given joystick port. - * - * @param stick The joystick port number - * @return The number of buttons on the indicated joystick - */ int DriverStation::GetStickButtonCount(int stick) const { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -357,12 +276,6 @@ int DriverStation::GetStickButtonCount(int stick) const { return m_joystickButtons[stick].count; } -/** - * Returns a boolean indicating if the controller is an xbox controller. - * - * @param stick The joystick port number - * @return A boolean that is true if the controller is an xbox controller. - */ bool DriverStation::GetJoystickIsXbox(int stick) const { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -373,12 +286,6 @@ bool DriverStation::GetJoystickIsXbox(int stick) const { return static_cast(m_joystickDescriptor[stick].isXbox); } -/** - * Returns the type of joystick at a given port. - * - * @param stick The joystick port number - * @return The HID type of joystick at the given port - */ int DriverStation::GetJoystickType(int stick) const { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -389,12 +296,6 @@ int DriverStation::GetJoystickType(int stick) const { return static_cast(m_joystickDescriptor[stick].type); } -/** - * Returns the name of the joystick at the given port. - * - * @param stick The joystick port number - * @return The name of the joystick at the given port - */ std::string DriverStation::GetJoystickName(int stick) const { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -404,12 +305,6 @@ std::string DriverStation::GetJoystickName(int stick) const { return m_joystickDescriptor[stick].name; } -/** - * Returns the types of Axes on a given joystick port. - * - * @param stick The joystick port number and the target axis - * @return What type of axis the axis is reporting to be - */ int DriverStation::GetJoystickAxisType(int stick, int axis) const { if (stick < 0 || stick >= kJoystickPorts) { wpi_setWPIError(BadJoystickIndex); @@ -420,104 +315,50 @@ int DriverStation::GetJoystickAxisType(int stick, int axis) const { return m_joystickDescriptor[stick].axisTypes[axis]; } -/** - * Check if the DS has enabled the robot. - * - * @return True if the robot is enabled and the DS is connected - */ bool DriverStation::IsEnabled() const { HAL_ControlWord controlWord; UpdateControlWord(false, controlWord); return controlWord.enabled && controlWord.dsAttached; } -/** - * Check if the robot is disabled. - * - * @return True if the robot is explicitly disabled or the DS is not connected - */ bool DriverStation::IsDisabled() const { HAL_ControlWord controlWord; UpdateControlWord(false, controlWord); return !(controlWord.enabled && controlWord.dsAttached); } -/** - * Check if the DS is commanding autonomous mode. - * - * @return True if the robot is being commanded to be in autonomous mode - */ bool DriverStation::IsAutonomous() const { HAL_ControlWord controlWord; UpdateControlWord(false, controlWord); return controlWord.autonomous; } -/** - * Check if the DS is commanding teleop mode. - * - * @return True if the robot is being commanded to be in teleop mode - */ bool DriverStation::IsOperatorControl() const { HAL_ControlWord controlWord; UpdateControlWord(false, controlWord); return !(controlWord.autonomous || controlWord.test); } -/** - * Check if the DS is commanding test mode. - * - * @return True if the robot is being commanded to be in test mode - */ bool DriverStation::IsTest() const { HAL_ControlWord controlWord; UpdateControlWord(false, controlWord); return controlWord.test; } -/** - * Check if the DS is attached. - * - * @return True if the DS is connected to the robot - */ bool DriverStation::IsDSAttached() const { HAL_ControlWord controlWord; UpdateControlWord(false, controlWord); return controlWord.dsAttached; } -/** - * Has a new control packet from the driver station arrived since the last time - * this function was called? - * - * Warning: If you call this function from more than one place at the same time, - * you will not get the intended behavior. - * - * @return True if the control data has been updated since the last call. - */ bool DriverStation::IsNewControlData() const { return HAL_IsNewControlData(); } -/** - * Is the driver station attached to a Field Management System? - * - * @return True if the robot is competing on a field being controlled by a Field - * Management System - */ bool DriverStation::IsFMSAttached() const { HAL_ControlWord controlWord; UpdateControlWord(false, controlWord); return controlWord.fmsAttached; } -/** - * Check if the FPGA outputs are enabled. - * - * The outputs may be disabled if the robot is disabled or e-stopped, the - * watchdog has expired, or if the roboRIO browns out. - * - * @return True if the FPGA outputs are enabled. - * @deprecated Use RobotController static class method - */ bool DriverStation::IsSysActive() const { int32_t status = 0; bool retVal = HAL_GetSystemActive(&status); @@ -525,12 +366,6 @@ bool DriverStation::IsSysActive() const { return retVal; } -/** - * Check if the system is browned out. - * - * @return True if the system is browned out - * @deprecated Use RobotController static class method - */ bool DriverStation::IsBrownedOut() const { int32_t status = 0; bool retVal = HAL_GetBrownedOut(&status); @@ -563,13 +398,6 @@ int DriverStation::GetReplayNumber() const { return m_matchInfo->replayNumber; } -/** - * Return the alliance that the driver station says it is on. - * - * This could return kRed or kBlue. - * - * @return The Alliance enum (kRed, kBlue or kInvalid) - */ DriverStation::Alliance DriverStation::GetAlliance() const { int32_t status = 0; auto allianceStationID = HAL_GetAllianceStation(&status); @@ -587,13 +415,6 @@ DriverStation::Alliance DriverStation::GetAlliance() const { } } -/** - * Return the driver station location on the field. - * - * This could return 1, 2, or 3. - * - * @return The location of the driver station (1-3, 0 for invalid) - */ int DriverStation::GetLocation() const { int32_t status = 0; auto allianceStationID = HAL_GetAllianceStation(&status); @@ -612,32 +433,8 @@ int DriverStation::GetLocation() const { } } -/** - * Wait until a new packet comes from the driver station. - * - * This blocks on a semaphore, so the waiting is efficient. - * - * This is a good way to delay processing until there is new driver station data - * to act on. - */ void DriverStation::WaitForData() { WaitForData(0); } -/** - * Wait until a new packet comes from the driver station, or wait for a timeout. - * - * If the timeout is less then or equal to 0, wait indefinitely. - * - * Timeout is in milliseconds - * - * This blocks on a semaphore, so the waiting is efficient. - * - * This is a good way to delay processing until there is new driver station data - * to act on. - * - * @param timeout Timeout time in seconds - * - * @return true if new data, otherwise false - */ bool DriverStation::WaitForData(double timeout) { auto timeoutTime = std::chrono::steady_clock::now() + std::chrono::duration(timeout); @@ -657,31 +454,11 @@ bool DriverStation::WaitForData(double timeout) { return true; } -/** - * Return the approximate match time. - * - * The FMS does not send an official match time to the robots, but does send an - * approximate match time. The value will count down the time remaining in the - * current period (auto or teleop). - * - * Warning: This is not an official time (so it cannot be used to dispute ref - * calls or guarantee that a function will trigger before the match ends). - * - * The Practice Match function of the DS approximates the behaviour seen on the - * field. - * - * @return Time remaining in current match period (auto or teleop) - */ double DriverStation::GetMatchTime() const { int32_t status; return HAL_GetMatchTime(&status); } -/** - * Read the battery voltage. - * - * @return The battery voltage in Volts. - */ double DriverStation::GetBatteryVoltage() const { int32_t status = 0; double voltage = HAL_GetVinVoltage(&status); @@ -690,6 +467,155 @@ double DriverStation::GetBatteryVoltage() const { return voltage; } +void DriverStation::GetData() { + // Get the status of all of the joysticks, and save to the cache + for (uint8_t stick = 0; stick < kJoystickPorts; stick++) { + HAL_GetJoystickAxes(stick, &m_joystickAxesCache[stick]); + HAL_GetJoystickPOVs(stick, &m_joystickPOVsCache[stick]); + HAL_GetJoystickButtons(stick, &m_joystickButtonsCache[stick]); + HAL_GetJoystickDescriptor(stick, &m_joystickDescriptorCache[stick]); + } + // Grab match specific data + HAL_MatchInfo matchInfo; + auto status = HAL_GetMatchInfo(&matchInfo); + if (status == 0) { + m_matchInfoCache->eventName = matchInfo.eventName; + m_matchInfoCache->matchNumber = matchInfo.matchNumber; + m_matchInfoCache->replayNumber = matchInfo.replayNumber; + m_matchInfoCache->matchType = + static_cast(matchInfo.matchType); + m_matchInfoCache->gameSpecificMessage = matchInfo.gameSpecificMessage; + } + HAL_FreeMatchInfo(&matchInfo); + + // Force a control word update, to make sure the data is the newest. + HAL_ControlWord controlWord; + UpdateControlWord(true, controlWord); + + { + // Obtain a write lock on the data, swap the cached data into the + // main data arrays + std::lock_guard lock(m_cacheDataMutex); + + for (int32_t i = 0; i < kJoystickPorts; i++) { + // If buttons weren't pressed and are now, set flags in m_buttonsPressed + m_joystickButtonsPressed[i] |= + ~m_joystickButtons[i].buttons & m_joystickButtonsCache[i].buttons; + + // If buttons were pressed and aren't now, set flags in m_buttonsReleased + m_joystickButtonsReleased[i] |= + m_joystickButtons[i].buttons & ~m_joystickButtonsCache[i].buttons; + } + + m_joystickAxes.swap(m_joystickAxesCache); + m_joystickPOVs.swap(m_joystickPOVsCache); + m_joystickButtons.swap(m_joystickButtonsCache); + m_joystickDescriptor.swap(m_joystickDescriptorCache); + m_matchInfo.swap(m_matchInfoCache); + } + + { + std::lock_guard waitLock(m_waitForDataMutex); + // Nofify all threads + m_waitForDataCounter++; + m_waitForDataCond.notify_all(); + } + + SendMatchData(); +} + +DriverStation::DriverStation() { + HAL_Initialize(500, 0); + m_waitForDataCounter = 0; + m_joystickAxes = std::make_unique(kJoystickPorts); + m_joystickPOVs = std::make_unique(kJoystickPorts); + m_joystickButtons = std::make_unique(kJoystickPorts); + m_joystickDescriptor = + std::make_unique(kJoystickPorts); + m_matchInfo = std::make_unique(); + m_joystickAxesCache = std::make_unique(kJoystickPorts); + m_joystickPOVsCache = std::make_unique(kJoystickPorts); + m_joystickButtonsCache = + std::make_unique(kJoystickPorts); + m_joystickDescriptorCache = + std::make_unique(kJoystickPorts); + m_matchInfoCache = std::make_unique(); + + m_matchDataSender = std::make_unique(); + + // All joysticks should default to having zero axes, povs and buttons, so + // uninitialized memory doesn't get sent to speed controllers. + for (unsigned int i = 0; i < kJoystickPorts; i++) { + m_joystickAxes[i].count = 0; + m_joystickPOVs[i].count = 0; + m_joystickButtons[i].count = 0; + m_joystickDescriptor[i].isXbox = 0; + m_joystickDescriptor[i].type = -1; + m_joystickDescriptor[i].name[0] = '\0'; + + m_joystickAxesCache[i].count = 0; + m_joystickPOVsCache[i].count = 0; + m_joystickButtonsCache[i].count = 0; + m_joystickDescriptorCache[i].isXbox = 0; + m_joystickDescriptorCache[i].type = -1; + m_joystickDescriptorCache[i].name[0] = '\0'; + + m_joystickButtonsPressed[i] = 0; + m_joystickButtonsReleased[i] = 0; + } + + m_dsThread = std::thread(&DriverStation::Run, this); +} + +void DriverStation::ReportJoystickUnpluggedError(const wpi::Twine& message) { + double currentTime = Timer::GetFPGATimestamp(); + if (currentTime > m_nextMessageTime) { + ReportError(message); + m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval; + } +} + +void DriverStation::ReportJoystickUnpluggedWarning(const wpi::Twine& message) { + double currentTime = Timer::GetFPGATimestamp(); + if (currentTime > m_nextMessageTime) { + ReportWarning(message); + m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval; + } +} + +void DriverStation::Run() { + m_isRunning = true; + int safetyCounter = 0; + while (m_isRunning) { + HAL_WaitForDSData(); + GetData(); + + if (IsDisabled()) safetyCounter = 0; + + if (++safetyCounter >= 4) { + MotorSafetyHelper::CheckMotors(); + safetyCounter = 0; + } + if (m_userInDisabled) HAL_ObserveUserProgramDisabled(); + if (m_userInAutonomous) HAL_ObserveUserProgramAutonomous(); + if (m_userInTeleop) HAL_ObserveUserProgramTeleop(); + if (m_userInTest) HAL_ObserveUserProgramTest(); + } +} + +void DriverStation::UpdateControlWord(bool force, + HAL_ControlWord& controlWord) const { + auto now = std::chrono::steady_clock::now(); + std::lock_guard lock(m_controlWordMutex); + // Update every 50 ms or on force. + if ((now - m_lastControlWordUpdate > std::chrono::milliseconds(50)) || + force) { + HAL_GetControlWord(&m_controlWordCache); + m_lastControlWordUpdate = now; + } + controlWord = m_controlWordCache; +} + void DriverStation::SendMatchData() { int32_t status = 0; HAL_AllianceStationID alliance = HAL_GetAllianceStation(&status); @@ -748,181 +674,3 @@ void DriverStation::SendMatchData() { std::memcpy(&wordInt, &ctlWord, sizeof(wordInt)); m_matchDataSender->controlWord.SetDouble(wordInt); } - -/** - * Copy data from the DS task for the user. - * - * If no new data exists, it will just be returned, otherwise - * the data will be copied from the DS polling loop. - */ -void DriverStation::GetData() { - // Get the status of all of the joysticks, and save to the cache - for (uint8_t stick = 0; stick < kJoystickPorts; stick++) { - HAL_GetJoystickAxes(stick, &m_joystickAxesCache[stick]); - HAL_GetJoystickPOVs(stick, &m_joystickPOVsCache[stick]); - HAL_GetJoystickButtons(stick, &m_joystickButtonsCache[stick]); - HAL_GetJoystickDescriptor(stick, &m_joystickDescriptorCache[stick]); - } - // Grab match specific data - HAL_MatchInfo matchInfo; - auto status = HAL_GetMatchInfo(&matchInfo); - if (status == 0) { - m_matchInfoCache->eventName = matchInfo.eventName; - m_matchInfoCache->matchNumber = matchInfo.matchNumber; - m_matchInfoCache->replayNumber = matchInfo.replayNumber; - m_matchInfoCache->matchType = - static_cast(matchInfo.matchType); - m_matchInfoCache->gameSpecificMessage = matchInfo.gameSpecificMessage; - } - HAL_FreeMatchInfo(&matchInfo); - - // Force a control word update, to make sure the data is the newest. - HAL_ControlWord controlWord; - UpdateControlWord(true, controlWord); - - { - // Obtain a write lock on the data, swap the cached data into the - // main data arrays - std::lock_guard lock(m_cacheDataMutex); - - for (int32_t i = 0; i < kJoystickPorts; i++) { - // If buttons weren't pressed and are now, set flags in m_buttonsPressed - m_joystickButtonsPressed[i] |= - ~m_joystickButtons[i].buttons & m_joystickButtonsCache[i].buttons; - - // If buttons were pressed and aren't now, set flags in m_buttonsReleased - m_joystickButtonsReleased[i] |= - m_joystickButtons[i].buttons & ~m_joystickButtonsCache[i].buttons; - } - - m_joystickAxes.swap(m_joystickAxesCache); - m_joystickPOVs.swap(m_joystickPOVsCache); - m_joystickButtons.swap(m_joystickButtonsCache); - m_joystickDescriptor.swap(m_joystickDescriptorCache); - m_matchInfo.swap(m_matchInfoCache); - } - - { - std::lock_guard waitLock(m_waitForDataMutex); - // Nofify all threads - m_waitForDataCounter++; - m_waitForDataCond.notify_all(); - } - - SendMatchData(); -} - -/** - * DriverStation constructor. - * - * This is only called once the first time GetInstance() is called - */ -DriverStation::DriverStation() { - HAL_Initialize(500, 0); - m_waitForDataCounter = 0; - m_joystickAxes = std::make_unique(kJoystickPorts); - m_joystickPOVs = std::make_unique(kJoystickPorts); - m_joystickButtons = std::make_unique(kJoystickPorts); - m_joystickDescriptor = - std::make_unique(kJoystickPorts); - m_matchInfo = std::make_unique(); - m_joystickAxesCache = std::make_unique(kJoystickPorts); - m_joystickPOVsCache = std::make_unique(kJoystickPorts); - m_joystickButtonsCache = - std::make_unique(kJoystickPorts); - m_joystickDescriptorCache = - std::make_unique(kJoystickPorts); - m_matchInfoCache = std::make_unique(); - - m_matchDataSender = std::make_unique(); - - // All joysticks should default to having zero axes, povs and buttons, so - // uninitialized memory doesn't get sent to speed controllers. - for (unsigned int i = 0; i < kJoystickPorts; i++) { - m_joystickAxes[i].count = 0; - m_joystickPOVs[i].count = 0; - m_joystickButtons[i].count = 0; - m_joystickDescriptor[i].isXbox = 0; - m_joystickDescriptor[i].type = -1; - m_joystickDescriptor[i].name[0] = '\0'; - - m_joystickAxesCache[i].count = 0; - m_joystickPOVsCache[i].count = 0; - m_joystickButtonsCache[i].count = 0; - m_joystickDescriptorCache[i].isXbox = 0; - m_joystickDescriptorCache[i].type = -1; - m_joystickDescriptorCache[i].name[0] = '\0'; - - m_joystickButtonsPressed[i] = 0; - m_joystickButtonsReleased[i] = 0; - } - - m_dsThread = std::thread(&DriverStation::Run, this); -} - -/** - * Reports errors related to unplugged joysticks - * Throttles the errors so that they don't overwhelm the DS - */ -void DriverStation::ReportJoystickUnpluggedError(const wpi::Twine& message) { - double currentTime = Timer::GetFPGATimestamp(); - if (currentTime > m_nextMessageTime) { - ReportError(message); - m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval; - } -} - -/** - * Reports errors related to unplugged joysticks. - * - * Throttles the errors so that they don't overwhelm the DS. - */ -void DriverStation::ReportJoystickUnpluggedWarning(const wpi::Twine& message) { - double currentTime = Timer::GetFPGATimestamp(); - if (currentTime > m_nextMessageTime) { - ReportWarning(message); - m_nextMessageTime = currentTime + kJoystickUnpluggedMessageInterval; - } -} - -void DriverStation::Run() { - m_isRunning = true; - int safetyCounter = 0; - while (m_isRunning) { - HAL_WaitForDSData(); - GetData(); - - if (IsDisabled()) safetyCounter = 0; - - if (++safetyCounter >= 4) { - MotorSafetyHelper::CheckMotors(); - safetyCounter = 0; - } - if (m_userInDisabled) HAL_ObserveUserProgramDisabled(); - if (m_userInAutonomous) HAL_ObserveUserProgramAutonomous(); - if (m_userInTeleop) HAL_ObserveUserProgramTeleop(); - if (m_userInTest) HAL_ObserveUserProgramTest(); - } -} - -/** - * Gets ControlWord data from the cache. If 50ms has passed, or the force - * parameter is set, the cached data is updated. Otherwise the data is just - * copied from the cache. - * - * @param force True to force an update to the cache, otherwise update if 50ms - * have passed. - * @param controlWord Structure to put the return control word data into. - */ -void DriverStation::UpdateControlWord(bool force, - HAL_ControlWord& controlWord) const { - auto now = std::chrono::steady_clock::now(); - std::lock_guard lock(m_controlWordMutex); - // Update every 50 ms or on force. - if ((now - m_lastControlWordUpdate > std::chrono::milliseconds(50)) || - force) { - HAL_GetControlWord(&m_controlWordCache); - m_lastControlWordUpdate = now; - } - controlWord = m_controlWordCache; -} diff --git a/wpilibc/src/main/native/cpp/Encoder.cpp b/wpilibc/src/main/native/cpp/Encoder.cpp index 5cc40de428..9e11537c63 100644 --- a/wpilibc/src/main/native/cpp/Encoder.cpp +++ b/wpilibc/src/main/native/cpp/Encoder.cpp @@ -15,62 +15,6 @@ using namespace frc; -/** - * Common initialization code for Encoders. - * - * This code allocates resources for Encoders and is common to all constructors. - * - * The counter will start counting immediately. - * - * @param reverseDirection If true, counts down instead of up (this is all - * relative) - * @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. - */ -void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) { - int32_t status = 0; - m_encoder = HAL_InitializeEncoder( - m_aSource->GetPortHandleForRouting(), - (HAL_AnalogTriggerType)m_aSource->GetAnalogTriggerTypeForRouting(), - m_bSource->GetPortHandleForRouting(), - (HAL_AnalogTriggerType)m_bSource->GetAnalogTriggerTypeForRouting(), - reverseDirection, (HAL_EncoderEncodingType)encodingType, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - - HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(), - encodingType); - SetName("Encoder", m_aSource->GetChannel()); -} - -/** - * Encoder constructor. - * - * Construct a Encoder given a and b channels. - * - * The counter will start counting immediately. - * - * @param aChannel The a channel DIO channel. 0-9 are on-board, 10-25 - * are on the MXP port - * @param bChannel The b channel DIO channel. 0-9 are on-board, 10-25 - * are on the MXP port - * @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(int aChannel, int bChannel, bool reverseDirection, EncodingType encodingType) { m_aSource = std::make_shared(aChannel); @@ -80,29 +24,6 @@ Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection, AddChild(m_bSource); } -/** - * Encoder constructor. - * - * Construct a Encoder given a and b channels as digital inputs. This is used in - * the case where the digital inputs are shared. The Encoder class will not - * allocate the digital inputs and assume that they already are counted. - * - * The counter will start counting immediately. - * - * @param aSource The source that should be used for the a channel. - * @param bSource the source that should be used for the b 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(DigitalSource* aSource, DigitalSource* bSource, bool reverseDirection, EncodingType encodingType) : m_aSource(aSource, NullDeleter()), @@ -113,6 +34,13 @@ Encoder::Encoder(DigitalSource* aSource, DigitalSource* bSource, InitEncoder(reverseDirection, encodingType); } +Encoder::Encoder(DigitalSource& aSource, DigitalSource& bSource, + bool reverseDirection, EncodingType encodingType) + : m_aSource(&aSource, NullDeleter()), + m_bSource(&bSource, NullDeleter()) { + InitEncoder(reverseDirection, encodingType); +} + Encoder::Encoder(std::shared_ptr aSource, std::shared_ptr bSource, bool reverseDirection, EncodingType encodingType) @@ -123,84 +51,12 @@ Encoder::Encoder(std::shared_ptr aSource, InitEncoder(reverseDirection, encodingType); } -/** - * Encoder constructor. - * - * Construct a Encoder given a and b channels as digital inputs. This is used in - * the case where the digital inputs are shared. The Encoder class will not - * allocate the digital inputs and assume that they already are counted. - * - * The counter will start counting immediately. - * - * @param aSource The source that should be used for the a channel. - * @param bSource the source that should be used for the b 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(DigitalSource& aSource, DigitalSource& bSource, - bool reverseDirection, EncodingType encodingType) - : m_aSource(&aSource, NullDeleter()), - m_bSource(&bSource, NullDeleter()) { - InitEncoder(reverseDirection, encodingType); -} - -/** - * Free the resources for an Encoder. - * - * Frees the FPGA resources associated with an Encoder. - */ Encoder::~Encoder() { int32_t status = 0; HAL_FreeEncoder(m_encoder, &status); wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * The encoding scale factor 1x, 2x, or 4x, per the requested encodingType. - * - * Used to divide raw edge counts down to spec'd counts. - */ -int Encoder::GetEncodingScale() const { - int32_t status = 0; - int val = HAL_GetEncoderEncodingScale(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - return val; -} - -/** - * Gets the raw value from the encoder. - * - * The raw value is the actual count unscaled by the 1x, 2x, or 4x scale - * factor. - * - * @return Current raw count from the encoder - */ -int Encoder::GetRaw() const { - if (StatusIsFatal()) return 0; - int32_t status = 0; - int value = HAL_GetEncoderRaw(m_encoder, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); - return value; -} - -/** - * 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. - */ int Encoder::Get() const { if (StatusIsFatal()) return 0; int32_t status = 0; @@ -209,11 +65,6 @@ int Encoder::Get() const { return value; } -/** - * Reset the Encoder distance to zero. - * - * Resets the current count to zero on the encoder. - */ void Encoder::Reset() { if (StatusIsFatal()) return; int32_t status = 0; @@ -221,17 +72,6 @@ void Encoder::Reset() { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Returns the period of the most recent pulse. - * - * Returns the period of the most recent Encoder pulse in seconds. This method - * compensates for the decoding type. - * - * Warning: This returns unscaled periods. Use GetRate() for rates that are - * scaled using the value from SetDistancePerPulse(). - * - * @return Period in seconds of the most recent pulse. - */ double Encoder::GetPeriod() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; @@ -240,22 +80,6 @@ double Encoder::GetPeriod() const { return value; } -/** - * Sets the maximum period for stopped detection. - * - * Sets the value that represents the maximum period of the Encoder before it - * will assume 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. - */ void Encoder::SetMaxPeriod(double maxPeriod) { if (StatusIsFatal()) return; int32_t status = 0; @@ -263,15 +87,6 @@ void Encoder::SetMaxPeriod(double maxPeriod) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Determine if the encoder is stopped. - * - * Using the MaxPeriod value, a boolean is returned that is true if the encoder - * is considered stopped and false if it is still moving. A stopped encoder is - * one where the most recent pulse width exceeds the MaxPeriod. - * - * @return True if the encoder is considered stopped. - */ bool Encoder::GetStopped() const { if (StatusIsFatal()) return true; int32_t status = 0; @@ -280,11 +95,6 @@ bool Encoder::GetStopped() const { return value; } -/** - * The last direction the encoder value changed. - * - * @return The last direction the encoder value changed. - */ bool Encoder::GetDirection() const { if (StatusIsFatal()) return false; int32_t status = 0; @@ -293,24 +103,21 @@ bool Encoder::GetDirection() const { return value; } -/** - * The scale needed to convert a raw counter value into a number of encoder - * pulses. - */ -double Encoder::DecodingScaleFactor() const { - if (StatusIsFatal()) return 0.0; +int Encoder::GetRaw() const { + if (StatusIsFatal()) return 0; int32_t status = 0; - double val = HAL_GetEncoderDecodingScaleFactor(m_encoder, &status); + int value = HAL_GetEncoderRaw(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + return value; +} + +int Encoder::GetEncodingScale() const { + int32_t status = 0; + int val = HAL_GetEncoderEncodingScale(m_encoder, &status); wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); return val; } -/** - * 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() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; @@ -319,14 +126,6 @@ double Encoder::GetDistance() const { return value; } -/** - * 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() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; @@ -335,12 +134,6 @@ double Encoder::GetRate() const { return value; } -/** - * 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) { if (StatusIsFatal()) return; int32_t status = 0; @@ -348,23 +141,6 @@ void Encoder::SetMinRate(double minRate) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Set the distance per pulse for this encoder. - * - * This sets the multiplier used to determine the distance driven based on the - * count value from the encoder. - * - * Do not include the decoding type in this scale. The library already - * compensates for the decoding type. - * - * 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) { if (StatusIsFatal()) return; int32_t status = 0; @@ -372,11 +148,6 @@ void Encoder::SetDistancePerPulse(double distancePerPulse) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Get the distance per pulse for this encoder. - * - * @return The scale factor that will be used to convert pulses to useful units. - */ double Encoder::GetDistancePerPulse() const { if (StatusIsFatal()) return 0.0; int32_t status = 0; @@ -385,14 +156,6 @@ double Encoder::GetDistancePerPulse() const { return distancePerPulse; } -/** - * Set the direction sensing for this encoder. - * - * This sets the direction sensing on the encoder so that it could count in the - * correct software direction regardless of the mounting. - * - * @param reverseDirection true if the encoder direction should be reversed - */ void Encoder::SetReverseDirection(bool reverseDirection) { if (StatusIsFatal()) return; int32_t status = 0; @@ -400,15 +163,6 @@ void Encoder::SetReverseDirection(bool reverseDirection) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * 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. - */ void Encoder::SetSamplesToAverage(int samplesToAverage) { if (samplesToAverage < 1 || samplesToAverage > 127) { wpi_setWPIErrorWithContext( @@ -421,15 +175,6 @@ void Encoder::SetSamplesToAverage(int samplesToAverage) { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * 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 The number of samples being averaged (from 1 to 127) - */ int Encoder::GetSamplesToAverage() const { int32_t status = 0; int result = HAL_GetEncoderSamplesToAverage(m_encoder, &status); @@ -437,11 +182,6 @@ int Encoder::GetSamplesToAverage() const { return result; } -/** - * Implement the PIDSource interface. - * - * @return The current value of the selected source parameter. - */ double Encoder::PIDGet() { if (StatusIsFatal()) return 0.0; switch (GetPIDSourceType()) { @@ -454,14 +194,6 @@ double Encoder::PIDGet() { } } -/** - * Set the index source for the encoder. - * - * When this source is activated, the encoder count automatically resets. - * - * @param channel A DIO channel to set as the encoder index - * @param type The state that will cause the encoder to reset - */ void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) { // Force digital input if just given an index m_indexSource = std::make_shared(channel); @@ -469,14 +201,6 @@ void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) { SetIndexSource(*m_indexSource.get(), type); } -/** - * Set the index source for the encoder. - * - * When this source is activated, the encoder count automatically resets. - * - * @param channel A digital source to set as the encoder index - * @param type The state that will cause the encoder to reset - */ void Encoder::SetIndexSource(const DigitalSource& source, Encoder::IndexingType type) { int32_t status = 0; @@ -509,3 +233,26 @@ void Encoder::InitSendable(SendableBuilder& builder) { builder.AddDoubleProperty("Distance per Tick", [=]() { return GetDistancePerPulse(); }, nullptr); } + +void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) { + int32_t status = 0; + m_encoder = HAL_InitializeEncoder( + m_aSource->GetPortHandleForRouting(), + (HAL_AnalogTriggerType)m_aSource->GetAnalogTriggerTypeForRouting(), + m_bSource->GetPortHandleForRouting(), + (HAL_AnalogTriggerType)m_bSource->GetAnalogTriggerTypeForRouting(), + reverseDirection, (HAL_EncoderEncodingType)encodingType, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + + HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(), + encodingType); + SetName("Encoder", m_aSource->GetChannel()); +} + +double Encoder::DecodingScaleFactor() const { + if (StatusIsFatal()) return 0.0; + int32_t status = 0; + double val = HAL_GetEncoderDecodingScaleFactor(m_encoder, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); + return val; +} diff --git a/wpilibc/src/main/native/cpp/ErrorBase.cpp b/wpilibc/src/main/native/cpp/ErrorBase.cpp index d965f57380..5ace13d9c2 100644 --- a/wpilibc/src/main/native/cpp/ErrorBase.cpp +++ b/wpilibc/src/main/native/cpp/ErrorBase.cpp @@ -26,29 +26,12 @@ Error ErrorBase::_globalError; ErrorBase::ErrorBase() { HAL_Initialize(500, 0); } -/** - * @brief Retrieve the current error. - * - * Get the current error information associated with this sensor. - */ Error& ErrorBase::GetError() { return m_error; } const Error& ErrorBase::GetError() const { return m_error; } -/** - * @brief Clear the current error information associated with this sensor. - */ void ErrorBase::ClearError() const { m_error.Clear(); } -/** - * @brief Set error information associated with a C library call that set an - * error to the "errno" global variable. - * - * @param contextMessage A custom message from the code that set the error. - * @param filename Filename of the error source - * @param function Function of the error source - * @param lineNumber Line number of the error source - */ void ErrorBase::SetErrnoError(const wpi::Twine& contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const { @@ -73,16 +56,6 @@ void ErrorBase::SetErrnoError(const wpi::Twine& contextMessage, } } -/** - * @brief Set the current error information associated from the nivision Imaq - * API. - * - * @param success The return from the function - * @param contextMessage A custom message from the code that set the error. - * @param filename Filename of the error source - * @param function Function of the error source - * @param lineNumber Line number of the error source - */ void ErrorBase::SetImaqError(int success, const wpi::Twine& contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const { @@ -100,15 +73,6 @@ void ErrorBase::SetImaqError(int success, const wpi::Twine& contextMessage, } } -/** - * @brief Set the current error information associated with this sensor. - * - * @param code The error code - * @param contextMessage A custom message from the code that set the error. - * @param filename Filename of the error source - * @param function Function of the error source - * @param lineNumber Line number of the error source - */ void ErrorBase::SetError(Error::Code code, const wpi::Twine& contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const { @@ -125,19 +89,6 @@ void ErrorBase::SetError(Error::Code code, const wpi::Twine& contextMessage, } } -/** - * @brief Set the current error information associated with this sensor. - * Range versions use for initialization code. - * - * @param code The error code - * @param minRange The minimum allowed allocation range - * @param maxRange The maximum allowed allocation range - * @param requestedValue The requested value to allocate - * @param contextMessage A custom message from the code that set the error. - * @param filename Filename of the error source - * @param function Function of the error source - * @param lineNumber Line number of the error source - */ void ErrorBase::SetErrorRange(Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const wpi::Twine& contextMessage, @@ -160,15 +111,6 @@ void ErrorBase::SetErrorRange(Error::Code code, int32_t minRange, } } -/** - * @brief Set the current error information associated with this sensor. - * - * @param errorMessage The error message from WPIErrors.h - * @param contextMessage A custom message from the code that set the error. - * @param filename Filename of the error source - * @param function Function of the error source - * @param lineNumber Line number of the error source - */ void ErrorBase::SetWPIError(const wpi::Twine& errorMessage, Error::Code code, const wpi::Twine& contextMessage, wpi::StringRef filename, wpi::StringRef function, @@ -188,11 +130,6 @@ void ErrorBase::CloneError(const ErrorBase& rhs) const { m_error.Clone(rhs.GetError()); } -/** - * @brief Check if the current error code represents a fatal error. - * - * @return true if the current error is fatal. - */ bool ErrorBase::StatusIsFatal() const { return m_error.GetCode() < 0; } void ErrorBase::SetGlobalError(Error::Code code, @@ -221,9 +158,6 @@ void ErrorBase::SetGlobalWPIError(const wpi::Twine& errorMessage, lineNumber, nullptr); } -/** - * Retrieve the current global error. - */ Error& ErrorBase::GetGlobalError() { std::lock_guard mutex(_globalErrorMutex); return _globalError; diff --git a/wpilibc/src/main/native/cpp/Filters/LinearDigitalFilter.cpp b/wpilibc/src/main/native/cpp/Filters/LinearDigitalFilter.cpp index 310e2ba13a..4ff9e1a990 100644 --- a/wpilibc/src/main/native/cpp/Filters/LinearDigitalFilter.cpp +++ b/wpilibc/src/main/native/cpp/Filters/LinearDigitalFilter.cpp @@ -12,13 +12,6 @@ using namespace frc; -/** - * Create a linear FIR or IIR filter. - * - * @param source The PIDSource object that is used to get values - * @param ffGains The "feed forward" or FIR gains - * @param fbGains The "feed back" or IIR gains - */ LinearDigitalFilter::LinearDigitalFilter(PIDSource& source, wpi::ArrayRef ffGains, wpi::ArrayRef fbGains) @@ -28,13 +21,6 @@ LinearDigitalFilter::LinearDigitalFilter(PIDSource& source, m_inputGains(ffGains), m_outputGains(fbGains) {} -/** - * Create a linear FIR or IIR filter. - * - * @param source The PIDSource object that is used to get values - * @param ffGains The "feed forward" or FIR gains - * @param fbGains The "feed back" or IIR gains - */ LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr source, wpi::ArrayRef ffGains, wpi::ArrayRef fbGains) @@ -44,17 +30,6 @@ LinearDigitalFilter::LinearDigitalFilter(std::shared_ptr source, m_inputGains(ffGains), m_outputGains(fbGains) {} -/** - * Creates a one-pole IIR low-pass filter of the form:
- * y[n] = (1 - gain) * x[n] + gain * y[n-1]
- * where gain = e-dt / T, T is the time constant in seconds - * - * This filter is stable for time constants greater than zero. - * - * @param source The PIDSource object that is used to get values - * @param timeConstant The discrete-time time constant in seconds - * @param period The period in seconds between samples taken by the user - */ LinearDigitalFilter LinearDigitalFilter::SinglePoleIIR(PIDSource& source, double timeConstant, double period) { @@ -62,17 +37,6 @@ LinearDigitalFilter LinearDigitalFilter::SinglePoleIIR(PIDSource& source, return LinearDigitalFilter(source, {1.0 - gain}, {-gain}); } -/** - * Creates a first-order high-pass filter of the form:
- * y[n] = gain * x[n] + (-gain) * x[n-1] + gain * y[n-1]
- * where gain = e-dt / T, T is the time constant in seconds - * - * This filter is stable for time constants greater than zero. - * - * @param source The PIDSource object that is used to get values - * @param timeConstant The discrete-time time constant in seconds - * @param period The period in seconds between samples taken by the user - */ LinearDigitalFilter LinearDigitalFilter::HighPass(PIDSource& source, double timeConstant, double period) { @@ -80,16 +44,6 @@ LinearDigitalFilter LinearDigitalFilter::HighPass(PIDSource& source, return LinearDigitalFilter(source, {gain, -gain}, {-gain}); } -/** - * Creates a K-tap FIR moving average filter of the form:
- * y[n] = 1/k * (x[k] + x[k-1] + … + x[0]) - * - * This filter is always stable. - * - * @param source The PIDSource object that is used to get values - * @param taps The number of samples to average over. Higher = smoother but - * slower - */ LinearDigitalFilter LinearDigitalFilter::MovingAverage(PIDSource& source, int taps) { assert(taps > 0); @@ -98,50 +52,18 @@ LinearDigitalFilter LinearDigitalFilter::MovingAverage(PIDSource& source, return LinearDigitalFilter(source, gains, {}); } -/** - * Creates a one-pole IIR low-pass filter of the form:
- * y[n] = (1 - gain) * x[n] + gain * y[n-1]
- * where gain = e-dt / T, T is the time constant in seconds - * - * This filter is stable for time constants greater than zero. - * - * @param source The PIDSource object that is used to get values - * @param timeConstant The discrete-time time constant in seconds - * @param period The period in seconds between samples taken by the user - */ LinearDigitalFilter LinearDigitalFilter::SinglePoleIIR( std::shared_ptr source, double timeConstant, double period) { double gain = std::exp(-period / timeConstant); return LinearDigitalFilter(std::move(source), {1.0 - gain}, {-gain}); } -/** - * Creates a first-order high-pass filter of the form:
- * y[n] = gain * x[n] + (-gain) * x[n-1] + gain * y[n-1]
- * where gain = e-dt / T, T is the time constant in seconds - * - * This filter is stable for time constants greater than zero. - * - * @param source The PIDSource object that is used to get values - * @param timeConstant The discrete-time time constant in seconds - * @param period The period in seconds between samples taken by the user - */ LinearDigitalFilter LinearDigitalFilter::HighPass( std::shared_ptr source, double timeConstant, double period) { double gain = std::exp(-period / timeConstant); return LinearDigitalFilter(std::move(source), {gain, -gain}, {-gain}); } -/** - * Creates a K-tap FIR moving average filter of the form:
- * y[n] = 1/k * (x[k] + x[k-1] + … + x[0]) - * - * This filter is always stable. - * - * @param source The PIDSource object that is used to get values - * @param taps The number of samples to average over. Higher = smoother but - * slower - */ LinearDigitalFilter LinearDigitalFilter::MovingAverage( std::shared_ptr source, int taps) { assert(taps > 0); @@ -169,11 +91,6 @@ void LinearDigitalFilter::Reset() { m_outputs.reset(); } -/** - * Calculates the next value of the filter - * - * @return The filtered value at this step - */ double LinearDigitalFilter::PIDGet() { double retVal = 0.0; diff --git a/wpilibc/src/main/native/cpp/GearTooth.cpp b/wpilibc/src/main/native/cpp/GearTooth.cpp index 8959821fc7..245814f13b 100644 --- a/wpilibc/src/main/native/cpp/GearTooth.cpp +++ b/wpilibc/src/main/native/cpp/GearTooth.cpp @@ -13,54 +13,17 @@ using namespace frc; constexpr double GearTooth::kGearToothThreshold; -/** - * Common code called by the constructors. - */ -void GearTooth::EnableDirectionSensing(bool directionSensitive) { - if (directionSensitive) { - SetPulseLengthMode(kGearToothThreshold); - } -} - -/** - * Construct a GearTooth sensor given a channel. - * - * @param channel The DIO channel that the sensor is connected to. - * 0-9 are on-board, 10-25 are on the MXP. - * @param directionSensitive True to enable the pulse length decoding in - * hardware to specify count direction. - */ GearTooth::GearTooth(int channel, bool directionSensitive) : Counter(channel) { EnableDirectionSensing(directionSensitive); SetName("GearTooth", channel); } -/** - * Construct a GearTooth sensor given a digital input. - * - * This should be used when sharing digital inputs. - * - * @param source A pointer to the existing DigitalSource object - * (such as a DigitalInput) - * @param directionSensitive True to enable the pulse length decoding in - * hardware to specify count direction. - */ GearTooth::GearTooth(DigitalSource* source, bool directionSensitive) : Counter(source) { EnableDirectionSensing(directionSensitive); SetName("GearTooth", source->GetChannel()); } -/** - * Construct a GearTooth sensor given a digital input. - * - * This should be used when sharing digital inputs. - * - * @param source A reference to the existing DigitalSource object - * (such as a DigitalInput) - * @param directionSensitive True to enable the pulse length decoding in - * hardware to specify count direction. - */ GearTooth::GearTooth(std::shared_ptr source, bool directionSensitive) : Counter(source) { @@ -68,6 +31,12 @@ GearTooth::GearTooth(std::shared_ptr source, SetName("GearTooth", source->GetChannel()); } +void GearTooth::EnableDirectionSensing(bool directionSensitive) { + if (directionSensitive) { + SetPulseLengthMode(kGearToothThreshold); + } +} + void GearTooth::InitSendable(SendableBuilder& builder) { Counter::InitSendable(builder); builder.SetSmartDashboardType("Gear Tooth"); diff --git a/wpilibc/src/main/native/cpp/GenericHID.cpp b/wpilibc/src/main/native/cpp/GenericHID.cpp index 369e29b6b6..5587c2daca 100644 --- a/wpilibc/src/main/native/cpp/GenericHID.cpp +++ b/wpilibc/src/main/native/cpp/GenericHID.cpp @@ -21,125 +21,44 @@ GenericHID::GenericHID(int port) : m_ds(DriverStation::GetInstance()) { m_port = port; } -/** - * Get the button value (starting at button 1). - * - * The buttons are returned in a single 16 bit value with one bit representing - * the state of each button. The appropriate button is returned as a boolean - * value. - * - * @param button The button number to be read (starting at 1) - * @return The state of the button. - */ bool GenericHID::GetRawButton(int button) const { return m_ds.GetStickButton(m_port, button); } -/** - * Whether the button was pressed since the last check. Button indexes begin at - * 1. - * - * @param button The button index, beginning at 1. - * @return Whether the button was pressed since the last check. - */ bool GenericHID::GetRawButtonPressed(int button) { return m_ds.GetStickButtonPressed(m_port, button); } -/** - * Whether the button was released since the last check. Button indexes begin at - * 1. - * - * @param button The button index, beginning at 1. - * @return Whether the button was released since the last check. - */ bool GenericHID::GetRawButtonReleased(int button) { return m_ds.GetStickButtonReleased(m_port, button); } -/** - * Get the value of the axis. - * - * @param axis The axis to read, starting at 0. - * @return The value of the axis. - */ double GenericHID::GetRawAxis(int axis) const { return m_ds.GetStickAxis(m_port, axis); } -/** - * Get the angle in degrees of a POV on the HID. - * - * The POV angles start at 0 in the up direction, and increase clockwise - * (e.g. right is 90, upper-left is 315). - * - * @param pov The index of the POV to read (starting at 0) - * @return the angle of the POV in degrees, or -1 if the POV is not pressed. - */ int GenericHID::GetPOV(int pov) const { return m_ds.GetStickPOV(m_port, pov); } -/** - * Get the number of axes for the HID. - * - * @return the number of axis for the current HID - */ int GenericHID::GetAxisCount() const { return m_ds.GetStickAxisCount(m_port); } -/** - * Get the number of POVs for the HID. - * - * @return the number of POVs for the current HID - */ int GenericHID::GetPOVCount() const { return m_ds.GetStickPOVCount(m_port); } -/** - * Get the number of buttons for the HID. - * - * @return the number of buttons on the current HID - */ int GenericHID::GetButtonCount() const { return m_ds.GetStickButtonCount(m_port); } -/** - * Get the type of the HID. - * - * @return the type of the HID. - */ GenericHID::HIDType GenericHID::GetType() const { return static_cast(m_ds.GetJoystickType(m_port)); } -/** - * Get the name of the HID. - * - * @return the name of the HID. - */ std::string GenericHID::GetName() const { return m_ds.GetJoystickName(m_port); } -/** - * Get the axis type of a joystick axis. - * - * @return the axis type of a joystick axis. - */ int GenericHID::GetAxisType(int axis) const { return m_ds.GetJoystickAxisType(m_port, axis); } -/** - * Get the port number of the HID. - * - * @return The port number of the HID. - */ int GenericHID::GetPort() const { return m_port; } -/** - * Set a single HID output value for the HID. - * - * @param outputNumber The index of the output to set (1-32) - * @param value The value to set the output to - */ - void GenericHID::SetOutput(int outputNumber, bool value) { m_outputs = (m_outputs & ~(1 << (outputNumber - 1))) | (value << (outputNumber - 1)); @@ -147,24 +66,11 @@ void GenericHID::SetOutput(int outputNumber, bool value) { HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble); } -/** - * Set all output values for the HID. - * - * @param value The 32 bit output value (1 bit for each output) - */ void GenericHID::SetOutputs(int value) { m_outputs = value; HAL_SetJoystickOutputs(m_port, m_outputs, m_leftRumble, m_rightRumble); } -/** - * Set the rumble output for the HID. - * - * The DS currently supports 2 rumble values, left rumble and right rumble. - * - * @param type Which rumble value to set - * @param value The normalized value (0 to 1) to set the rumble to - */ void GenericHID::SetRumble(RumbleType type, double value) { if (value < 0) value = 0; diff --git a/wpilibc/src/main/native/cpp/GyroBase.cpp b/wpilibc/src/main/native/cpp/GyroBase.cpp index 51d641a228..c5caf8e76a 100644 --- a/wpilibc/src/main/native/cpp/GyroBase.cpp +++ b/wpilibc/src/main/native/cpp/GyroBase.cpp @@ -12,12 +12,6 @@ using namespace frc; -/** - * Get the PIDOutput for the PIDSource base object. Can be set to return - * angle or rate using SetPIDSourceType(). Defaults to angle. - * - * @return The PIDOutput (angle or rate, defaults to angle) - */ double GyroBase::PIDGet() { switch (GetPIDSourceType()) { case PIDSourceType::kRate: diff --git a/wpilibc/src/main/native/cpp/I2C.cpp b/wpilibc/src/main/native/cpp/I2C.cpp index 0952b1e71d..f29dec797e 100644 --- a/wpilibc/src/main/native/cpp/I2C.cpp +++ b/wpilibc/src/main/native/cpp/I2C.cpp @@ -14,12 +14,6 @@ using namespace frc; -/** - * Constructor. - * - * @param port The I2C port to which the device is connected. - * @param deviceAddress The address of the device on the I2C bus. - */ I2C::I2C(Port port, int deviceAddress) : m_port(static_cast(port)), m_deviceAddress(deviceAddress) { int32_t status = 0; @@ -29,23 +23,8 @@ I2C::I2C(Port port, int deviceAddress) HAL_Report(HALUsageReporting::kResourceType_I2C, deviceAddress); } -/** - * Destructor. - */ I2C::~I2C() { HAL_CloseI2C(m_port); } -/** - * Generic transaction. - * - * This is a lower-level interface to the I2C hardware giving you more control - * over each transaction. - * - * @param dataToSend Buffer of data to send as part of the transaction. - * @param sendSize Number of bytes to send as part of the transaction. - * @param dataReceived Buffer to read data into. - * @param receiveSize Number of bytes to read from the device. - * @return Transfer Aborted... false for success, true for aborted. - */ bool I2C::Transaction(uint8_t* dataToSend, int sendSize, uint8_t* dataReceived, int receiveSize) { int32_t status = 0; @@ -55,27 +34,8 @@ bool I2C::Transaction(uint8_t* dataToSend, int sendSize, uint8_t* dataReceived, return status < 0; } -/** - * Attempt to address a device on the I2C bus. - * - * This allows you to figure out if there is a device on the I2C bus that - * responds to the address specified in the constructor. - * - * @return Transfer Aborted... false for success, true for aborted. - */ bool I2C::AddressOnly() { return Transaction(nullptr, 0, nullptr, 0); } -/** - * Execute a write transaction with the device. - * - * Write a single byte to a register on a device and wait until the - * transaction is complete. - * - * @param registerAddress The address of the register on the device to be - * written. - * @param data The byte to write to the register on the device. - * @return Transfer Aborted... false for success, true for aborted. - */ bool I2C::Write(int registerAddress, uint8_t data) { uint8_t buffer[2]; buffer[0] = registerAddress; @@ -85,35 +45,12 @@ bool I2C::Write(int registerAddress, uint8_t data) { return status < 0; } -/** - * Execute a bulk write transaction with the device. - * - * Write multiple bytes to a device and wait until the - * transaction is complete. - * - * @param data The data to write to the register on the device. - * @param count The number of bytes to be written. - * @return Transfer Aborted... false for success, true for aborted. - */ bool I2C::WriteBulk(uint8_t* data, int count) { int32_t status = 0; status = HAL_WriteI2C(m_port, m_deviceAddress, data, count); return status < 0; } -/** - * Execute a read transaction with the device. - * - * Read bytes from a device. - * Most I2C devices will auto-increment the register pointer internally allowing - * you to read consecutive registers on a device in a single transaction. - * - * @param registerAddress The register to read first in the transaction. - * @param count The number of bytes to read in the transaction. - * @param buffer A pointer to the array of bytes to store the data - * read from the device. - * @return Transfer Aborted... false for success, true for aborted. - */ bool I2C::Read(int registerAddress, int count, uint8_t* buffer) { if (count < 1) { wpi_setWPIErrorWithContext(ParameterOutOfRange, "count"); @@ -127,17 +64,6 @@ bool I2C::Read(int registerAddress, int count, uint8_t* buffer) { return Transaction(®Addr, sizeof(regAddr), buffer, count); } -/** - * Execute a read only transaction with the device. - * - * Read bytes from a device. This method does not write any data to prompt the - * device. - * - * @param buffer A pointer to the array of bytes to store the data read from - * the device. - * @param count The number of bytes to read in the transaction. - * @return Transfer Aborted... false for success, true for aborted. - */ bool I2C::ReadOnly(int count, uint8_t* buffer) { if (count < 1) { wpi_setWPIErrorWithContext(ParameterOutOfRange, "count"); @@ -150,21 +76,6 @@ bool I2C::ReadOnly(int count, uint8_t* buffer) { return HAL_ReadI2C(m_port, m_deviceAddress, buffer, count) < 0; } -/** - * Verify that a device's registers contain expected values. - * - * Most devices will have a set of registers that contain a known value that - * can be used to identify them. This allows an I2C device driver to easily - * verify that the device contains the expected value. - * - * @pre The device must support and be configured to use register - * auto-increment. - * - * @param registerAddress The base register to start reading from the device. - * @param count The size of the field to be verified. - * @param expected A buffer containing the values expected from the - * device. - */ bool I2C::VerifySensor(int registerAddress, int count, const uint8_t* expected) { // TODO: Make use of all 7 read bytes diff --git a/wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp b/wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp index 5c9d448e5d..12b94f706b 100644 --- a/wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp +++ b/wpilibc/src/main/native/cpp/InterruptableSensorBase.cpp @@ -14,14 +14,6 @@ using namespace frc; -/** - * Request one of the 8 interrupts asynchronously on this digital input. - * - * Request interrupts in asynchronous mode where the user's interrupt handler - * will be called when the interrupt fires. Users that want control over the - * thread priority should use the synchronous method with their own spawned - * thread. The default is interrupt on rising edges only. - */ void InterruptableSensorBase::RequestInterrupts( HAL_InterruptHandlerFunction handler, void* param) { if (StatusIsFatal()) return; @@ -40,13 +32,6 @@ void InterruptableSensorBase::RequestInterrupts( wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Request one of the 8 interrupts synchronously on this digital input. - * - * Request interrupts in synchronous mode where the user program will have to - * explicitly wait for the interrupt to occur using WaitForInterrupt. - * The default is interrupt on rising edges only. - */ void InterruptableSensorBase::RequestInterrupts() { if (StatusIsFatal()) return; @@ -63,19 +48,6 @@ void InterruptableSensorBase::RequestInterrupts() { SetUpSourceEdge(true, false); } -void InterruptableSensorBase::AllocateInterrupts(bool watcher) { - wpi_assert(m_interrupt == HAL_kInvalidHandle); - // Expects the calling leaf class to allocate an interrupt index. - int32_t status = 0; - m_interrupt = HAL_InitializeInterrupts(watcher, &status); - wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); -} - -/** - * Cancel interrupts on this device. - * - * This deallocates all the chipobject structures and disables any interrupts. - */ void InterruptableSensorBase::CancelInterrupts() { if (StatusIsFatal()) return; wpi_assert(m_interrupt != HAL_kInvalidHandle); @@ -85,18 +57,6 @@ void InterruptableSensorBase::CancelInterrupts() { m_interrupt = HAL_kInvalidHandle; } -/** - * In synchronous mode, wait for the defined interrupt to occur. - * - * You should NOT attempt to read the sensor from another thread while - * waiting for an interrupt. This is not threadsafe, and can cause memory - * corruption - * - * @param timeout Timeout in seconds - * @param ignorePrevious If true, ignore interrupts that happened before - * WaitForInterrupt was called. - * @return What interrupts fired - */ InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt( double timeout, bool ignorePrevious) { if (StatusIsFatal()) return InterruptableSensorBase::kTimeout; @@ -116,13 +76,6 @@ InterruptableSensorBase::WaitResult InterruptableSensorBase::WaitForInterrupt( return static_cast(falling | rising); } -/** - * Enable interrupts to occur on this input. - * - * Interrupts are disabled when the RequestInterrupt call is made. This gives - * time to do the setup of the other options before starting to field - * interrupts. - */ void InterruptableSensorBase::EnableInterrupts() { if (StatusIsFatal()) return; wpi_assert(m_interrupt != HAL_kInvalidHandle); @@ -131,9 +84,6 @@ void InterruptableSensorBase::EnableInterrupts() { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Disable Interrupts without without deallocating structures. - */ void InterruptableSensorBase::DisableInterrupts() { if (StatusIsFatal()) return; wpi_assert(m_interrupt != HAL_kInvalidHandle); @@ -142,15 +92,6 @@ void InterruptableSensorBase::DisableInterrupts() { wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } -/** - * Return the timestamp for the rising interrupt that occurred most recently. - * - * This is in the same time domain as GetClock(). - * The rising-edge interrupt should be enabled with - * {@link #DigitalInput.SetUpSourceEdge} - * - * @return Timestamp in seconds since boot. - */ double InterruptableSensorBase::ReadRisingTimestamp() { if (StatusIsFatal()) return 0.0; wpi_assert(m_interrupt != HAL_kInvalidHandle); @@ -160,15 +101,6 @@ double InterruptableSensorBase::ReadRisingTimestamp() { return timestamp; } -/** - * Return the timestamp for the falling interrupt that occurred most recently. - * - * This is in the same time domain as GetClock(). - * The falling-edge interrupt should be enabled with - * {@link #DigitalInput.SetUpSourceEdge} - * - * @return Timestamp in seconds since boot. - */ double InterruptableSensorBase::ReadFallingTimestamp() { if (StatusIsFatal()) return 0.0; wpi_assert(m_interrupt != HAL_kInvalidHandle); @@ -178,12 +110,6 @@ double InterruptableSensorBase::ReadFallingTimestamp() { return timestamp; } -/** - * Set which edge to trigger interrupts on - * - * @param risingEdge true to interrupt on rising edge - * @param fallingEdge true to interrupt on falling edge - */ void InterruptableSensorBase::SetUpSourceEdge(bool risingEdge, bool fallingEdge) { if (StatusIsFatal()) return; @@ -199,3 +125,11 @@ void InterruptableSensorBase::SetUpSourceEdge(bool risingEdge, wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); } } + +void InterruptableSensorBase::AllocateInterrupts(bool watcher) { + wpi_assert(m_interrupt == HAL_kInvalidHandle); + // Expects the calling leaf class to allocate an interrupt index. + int32_t status = 0; + m_interrupt = HAL_InitializeInterrupts(watcher, &status); + wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); +} diff --git a/wpilibc/src/main/native/cpp/IterativeRobot.cpp b/wpilibc/src/main/native/cpp/IterativeRobot.cpp index 4497ff5011..7809d66f0d 100644 --- a/wpilibc/src/main/native/cpp/IterativeRobot.cpp +++ b/wpilibc/src/main/native/cpp/IterativeRobot.cpp @@ -18,12 +18,6 @@ IterativeRobot::IterativeRobot() { HALUsageReporting::kFramework_Iterative); } -/** - * Provide an alternate "main loop" via StartCompetition(). - * - * This specific StartCompetition() implements "main loop" behaviour synced with - * the DS packets. - */ void IterativeRobot::StartCompetition() { RobotInit(); diff --git a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp index f7cbc76f68..a122719586 100644 --- a/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp +++ b/wpilibc/src/main/native/cpp/IterativeRobotBase.cpp @@ -18,69 +18,26 @@ using namespace frc; -/** - * Robot-wide initialization code should go here. - * - * Users should override this method for default Robot-wide initialization which - * will be called when the robot is first powered on. It will be called exactly - * one time. - * - * Warning: the Driver Station "Robot Code" light and FMS "Robot Ready" - * indicators will be off until RobotInit() exits. Code in RobotInit() that - * waits for enable will cause the robot to never indicate that the code is - * ready, causing the robot to be bypassed in a match. - */ void IterativeRobotBase::RobotInit() { wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n"; } -/** - * Initialization code for disabled mode should go here. - * - * Users should override this method for initialization code which will be - * called each time - * the robot enters disabled mode. - */ void IterativeRobotBase::DisabledInit() { wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n"; } -/** - * Initialization code for autonomous mode should go here. - * - * Users should override this method for initialization code which will be - * called each time the robot enters autonomous mode. - */ void IterativeRobotBase::AutonomousInit() { wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n"; } -/** - * Initialization code for teleop mode should go here. - * - * Users should override this method for initialization code which will be - * called each time the robot enters teleop mode. - */ void IterativeRobotBase::TeleopInit() { wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n"; } -/** - * Initialization code for test mode should go here. - * - * Users should override this method for initialization code which will be - * called each time the robot enters test mode. - */ void IterativeRobotBase::TestInit() { wpi::outs() << "Default " << __FUNCTION__ << "() method... Overload me!\n"; } -/** - * Periodic code for all modes should go here. - * - * This function is called each time a new packet is received from the driver - * station. - */ void IterativeRobotBase::RobotPeriodic() { static bool firstRun = true; if (firstRun) { @@ -89,13 +46,6 @@ void IterativeRobotBase::RobotPeriodic() { } } -/** - * Periodic code for disabled mode should go here. - * - * Users should override this method for code which will be called each time a - * new packet is received from the driver station and the robot is in disabled - * mode. - */ void IterativeRobotBase::DisabledPeriodic() { static bool firstRun = true; if (firstRun) { @@ -104,13 +54,6 @@ void IterativeRobotBase::DisabledPeriodic() { } } -/** - * Periodic code for autonomous mode should go here. - * - * Users should override this method for code which will be called each time a - * new packet is received from the driver station and the robot is in autonomous - * mode. - */ void IterativeRobotBase::AutonomousPeriodic() { static bool firstRun = true; if (firstRun) { @@ -119,13 +62,6 @@ void IterativeRobotBase::AutonomousPeriodic() { } } -/** - * Periodic code for teleop mode should go here. - * - * Users should override this method for code which will be called each time a - * new packet is received from the driver station and the robot is in teleop - * mode. - */ void IterativeRobotBase::TeleopPeriodic() { static bool firstRun = true; if (firstRun) { @@ -134,12 +70,6 @@ void IterativeRobotBase::TeleopPeriodic() { } } -/** - * Periodic code for test mode should go here. - * - * Users should override this method for code which will be called each time a - * new packet is received from the driver station and the robot is in test mode. - */ void IterativeRobotBase::TestPeriodic() { static bool firstRun = true; if (firstRun) { diff --git a/wpilibc/src/main/native/cpp/Jaguar.cpp b/wpilibc/src/main/native/cpp/Jaguar.cpp index 214937b144..2db7701512 100644 --- a/wpilibc/src/main/native/cpp/Jaguar.cpp +++ b/wpilibc/src/main/native/cpp/Jaguar.cpp @@ -11,15 +11,8 @@ using namespace frc; -/** - * Constructor for a Jaguar connected via PWM. - * - * @param channel The PWM channel that the Jaguar is attached to. 0-9 are - * on-board, 10-19 are on the MXP port - */ Jaguar::Jaguar(int channel) : PWMSpeedController(channel) { - /** - * Input profile defined by Luminary Micro. + /* Input profile defined by Luminary Micro. * * Full reverse ranges from 0.671325ms to 0.6972211ms * Proportional reverse ranges from 0.6972211ms to 1.4482078ms diff --git a/wpilibc/src/main/native/cpp/Joystick.cpp b/wpilibc/src/main/native/cpp/Joystick.cpp index 9f4cb2d63d..f8ae094c54 100644 --- a/wpilibc/src/main/native/cpp/Joystick.cpp +++ b/wpilibc/src/main/native/cpp/Joystick.cpp @@ -18,14 +18,6 @@ using namespace frc; constexpr double kPi = 3.14159265358979323846; -/** - * Construct an instance of a joystick. - * - * The joystick index is the USB port on the Driver Station. - * - * @param port The port on the Driver Station that the joystick is plugged into - * (0-5). - */ Joystick::Joystick(int port) : GenericHID(port) { m_axes[Axis::kX] = kDefaultXChannel; m_axes[Axis::kY] = kDefaultYChannel; @@ -36,149 +28,48 @@ Joystick::Joystick(int port) : GenericHID(port) { HAL_Report(HALUsageReporting::kResourceType_Joystick, port); } -/** - * Set the channel associated with a specified axis. - * - * @param axis The axis to set the channel for. - * @param channel The channel to set the axis to. - */ -void Joystick::SetAxisChannel(AxisType axis, int channel) { - m_axes[axis] = channel; -} - -/** - * Set the channel associated with the X axis. - * - * @param channel The channel to set the axis to. - */ void Joystick::SetXChannel(int channel) { m_axes[Axis::kX] = channel; } -/** - * Set the channel associated with the Y axis. - * - * @param axis The axis to set the channel for. - * @param channel The channel to set the axis to. - */ void Joystick::SetYChannel(int channel) { m_axes[Axis::kY] = channel; } -/** - * Set the channel associated with the Z axis. - * - * @param axis The axis to set the channel for. - * @param channel The channel to set the axis to. - */ void Joystick::SetZChannel(int channel) { m_axes[Axis::kZ] = channel; } -/** - * Set the channel associated with the twist axis. - * - * @param axis The axis to set the channel for. - * @param channel The channel to set the axis to. - */ void Joystick::SetTwistChannel(int channel) { m_axes[Axis::kTwist] = channel; } -/** - * Set the channel associated with the throttle axis. - * - * @param axis The axis to set the channel for. - * @param channel The channel to set the axis to. - */ void Joystick::SetThrottleChannel(int channel) { m_axes[Axis::kThrottle] = channel; } -/** - * Get the channel currently associated with the X axis. - * - * @return The channel for the axis. - */ +void Joystick::SetAxisChannel(AxisType axis, int channel) { + m_axes[axis] = channel; +} + int Joystick::GetXChannel() const { return m_axes[Axis::kX]; } -/** - * Get the channel currently associated with the Y axis. - * - * @return The channel for the axis. - */ int Joystick::GetYChannel() const { return m_axes[Axis::kY]; } -/** - * Get the channel currently associated with the Z axis. - * - * @return The channel for the axis. - */ int Joystick::GetZChannel() const { return m_axes[Axis::kZ]; } -/** - * Get the channel currently associated with the twist axis. - * - * @return The channel for the axis. - */ int Joystick::GetTwistChannel() const { return m_axes[Axis::kTwist]; } -/** - * Get the channel currently associated with the throttle axis. - * - * @return The channel for the axis. - */ int Joystick::GetThrottleChannel() const { return m_axes[Axis::kThrottle]; } -/** - * Get the X value of the joystick. - * - * This depends on the mapping of the joystick connected to the current port. - * - * @param hand This parameter is ignored for the Joystick class and is only - * here to complete the GenericHID interface. - */ double Joystick::GetX(JoystickHand hand) const { return GetRawAxis(m_axes[Axis::kX]); } -/** - * Get the Y value of the joystick. - * - * This depends on the mapping of the joystick connected to the current port. - * - * @param hand This parameter is ignored for the Joystick class and is only - * here to complete the GenericHID interface. - */ double Joystick::GetY(JoystickHand hand) const { return GetRawAxis(m_axes[Axis::kY]); } -/** - * Get the Z value of the current joystick. - * - * This depends on the mapping of the joystick connected to the current port. - */ double Joystick::GetZ() const { return GetRawAxis(m_axes[Axis::kZ]); } -/** - * Get the twist value of the current joystick. - * - * This depends on the mapping of the joystick connected to the current port. - */ double Joystick::GetTwist() const { return GetRawAxis(m_axes[Axis::kTwist]); } -/** - * Get the throttle value of the current joystick. - * - * This depends on the mapping of the joystick connected to the current port. - */ double Joystick::GetThrottle() const { return GetRawAxis(m_axes[Axis::kThrottle]); } -/** - * For the current joystick, return the axis determined by the argument. - * - * This is for cases where the joystick axis is returned programatically, - * otherwise one of the previous functions would be preferable (for example - * GetX()). - * - * @param axis The axis to read. - * @return The value of the axis. - */ double Joystick::GetAxis(AxisType axis) const { switch (axis) { case kXAxis: @@ -197,54 +88,20 @@ double Joystick::GetAxis(AxisType axis) const { } } -/** - * Read the state of the trigger on the joystick. - * - * Look up which button has been assigned to the trigger and read its state. - * - * @return The state of the trigger. - */ bool Joystick::GetTrigger() const { return GetRawButton(Button::kTrigger); } -/** - * Whether the trigger was pressed since the last check. - * - * @return Whether the button was pressed since the last check. - */ bool Joystick::GetTriggerPressed() { return GetRawButtonPressed(Button::kTrigger); } -/** - * Whether the trigger was released since the last check. - * - * @return Whether the button was released since the last check. - */ bool Joystick::GetTriggerReleased() { return GetRawButtonReleased(Button::kTrigger); } -/** - * Read the state of the top button on the joystick. - * - * Look up which button has been assigned to the top and read its state. - * - * @return The state of the top button. - */ bool Joystick::GetTop() const { return GetRawButton(Button::kTop); } -/** - * Whether the top button was pressed since the last check. - * - * @return Whether the button was pressed since the last check. - */ bool Joystick::GetTopPressed() { return GetRawButtonPressed(Button::kTop); } -/** - * Whether the top button was released since the last check. - * - * @return Whether the button was released since the last check. - */ bool Joystick::GetTopReleased() { return GetRawButtonReleased(Button::kTop); } Joystick* Joystick::GetStickForPort(int port) { @@ -258,45 +115,19 @@ Joystick* Joystick::GetStickForPort(int port) { return stick; } -/** - * Get buttons based on an enumerated type. - * - * The button type will be looked up in the list of buttons and then read. - * - * @param button The type of button to read. - * @return The state of the button. - */ bool Joystick::GetButton(ButtonType button) const { int temp = button; return GetRawButton(static_cast