mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
Moved C++ comments from source files to headers (#1111)
Also sorted functions in C++ sources to match order in related headers.
This commit is contained in:
Tyler Veness
committed by
Peter Johnson
Peter Johnson
parent
d9971a705a
commit
8c680a26f8
@@ -16,19 +16,6 @@
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using namespace frc;
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/**
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* Create an instance of a counter where no sources are selected.
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*
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* They all must be selected by calling functions to specify the upsource and
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* the downsource independently.
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*
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* This creates a ChipObject counter and initializes status variables
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* appropriately.
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*
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* The counter will start counting immediately.
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*
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* @param mode The counter mode
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*/
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Counter::Counter(Mode mode) {
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int32_t status = 0;
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m_counter = HAL_InitializeCounter((HAL_Counter_Mode)mode, &m_index, &status);
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@@ -40,82 +27,26 @@ Counter::Counter(Mode mode) {
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SetName("Counter", m_index);
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}
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/**
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* Create an instance of a counter from a Digital Source (such as a Digital
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* Input).
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*
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* This is used if an existing digital input is to be shared by multiple other
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* objects such as encoders or if the Digital Source is not a Digital Input
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* channel (such as an Analog Trigger).
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*
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* The counter will start counting immediately.
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* @param source A pointer to the existing DigitalSource object. It will be set
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* as the Up Source.
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*/
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Counter::Counter(DigitalSource* source) : Counter(kTwoPulse) {
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SetUpSource(source);
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ClearDownSource();
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}
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/**
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* Create an instance of a counter from a Digital Source (such as a Digital
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* Input).
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*
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* This is used if an existing digital input is to be shared by multiple other
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* objects such as encoders or if the Digital Source is not a Digital Input
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* channel (such as an Analog Trigger).
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*
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* The counter will start counting immediately.
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*
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* @param source A pointer to the existing DigitalSource object. It will be
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* set as the Up Source.
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*/
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Counter::Counter(std::shared_ptr<DigitalSource> source) : Counter(kTwoPulse) {
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SetUpSource(source);
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ClearDownSource();
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}
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/**
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* Create an instance of a Counter object.
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*
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* Create an up-Counter instance given a channel.
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*
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* The counter will start counting immediately.
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*
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* @param channel The DIO channel to use as the up source. 0-9 are on-board,
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* 10-25 are on the MXP
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*/
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Counter::Counter(int channel) : Counter(kTwoPulse) {
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SetUpSource(channel);
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ClearDownSource();
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}
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/**
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* Create an instance of a Counter object.
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*
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* Create an instance of a simple up-Counter given an analog trigger.
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* Use the trigger state output from the analog trigger.
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*
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* The counter will start counting immediately.
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*
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* @param trigger The reference to the existing AnalogTrigger object.
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*/
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Counter::Counter(DigitalSource* source) : Counter(kTwoPulse) {
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SetUpSource(source);
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ClearDownSource();
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}
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Counter::Counter(std::shared_ptr<DigitalSource> source) : Counter(kTwoPulse) {
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SetUpSource(source);
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ClearDownSource();
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}
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Counter::Counter(const AnalogTrigger& trigger) : Counter(kTwoPulse) {
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SetUpSource(trigger.CreateOutput(AnalogTriggerType::kState));
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ClearDownSource();
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}
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/**
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* Create an instance of a Counter object.
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*
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* Creates a full up-down counter given two Digital Sources.
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*
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* @param encodingType The quadrature decoding mode (1x or 2x)
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* @param upSource The pointer to the DigitalSource to set as the up source
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* @param downSource The pointer to the DigitalSource to set as the down
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* source
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* @param inverted True to invert the output (reverse the direction)
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*/
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Counter::Counter(EncodingType encodingType, DigitalSource* upSource,
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DigitalSource* downSource, bool inverted)
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: Counter(encodingType,
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@@ -125,17 +56,6 @@ Counter::Counter(EncodingType encodingType, DigitalSource* upSource,
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NullDeleter<DigitalSource>()),
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inverted) {}
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/**
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* Create an instance of a Counter object.
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*
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* Creates a full up-down counter given two Digital Sources.
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*
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* @param encodingType The quadrature decoding mode (1x or 2x)
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* @param upSource The pointer to the DigitalSource to set as the up source
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* @param downSource The pointer to the DigitalSource to set as the down
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* source
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* @param inverted True to invert the output (reverse the direction)
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*/
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Counter::Counter(EncodingType encodingType,
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std::shared_ptr<DigitalSource> upSource,
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std::shared_ptr<DigitalSource> downSource, bool inverted)
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@@ -162,9 +82,6 @@ Counter::Counter(EncodingType encodingType,
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SetDownSourceEdge(inverted, true);
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}
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/**
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* Delete the Counter object.
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*/
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Counter::~Counter() {
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SetUpdateWhenEmpty(true);
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@@ -174,24 +91,12 @@ Counter::~Counter() {
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m_counter = HAL_kInvalidHandle;
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}
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/**
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* Set the upsource for the counter as a digital input channel.
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*
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* @param channel The DIO channel to use as the up source. 0-9 are on-board,
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* 10-25 are on the MXP
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*/
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void Counter::SetUpSource(int channel) {
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if (StatusIsFatal()) return;
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SetUpSource(std::make_shared<DigitalInput>(channel));
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AddChild(m_upSource);
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}
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/**
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* Set the up counting source to be an analog trigger.
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*
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* @param analogTrigger The analog trigger object that is used for the Up Source
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* @param triggerType The analog trigger output that will trigger the counter.
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*/
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void Counter::SetUpSource(AnalogTrigger* analogTrigger,
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AnalogTriggerType triggerType) {
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SetUpSource(std::shared_ptr<AnalogTrigger>(analogTrigger,
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@@ -199,25 +104,17 @@ void Counter::SetUpSource(AnalogTrigger* analogTrigger,
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triggerType);
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}
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/**
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* Set the up counting source to be an analog trigger.
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*
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* @param analogTrigger The analog trigger object that is used for the Up Source
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* @param triggerType The analog trigger output that will trigger the counter.
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*/
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void Counter::SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
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AnalogTriggerType triggerType) {
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if (StatusIsFatal()) return;
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SetUpSource(analogTrigger->CreateOutput(triggerType));
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}
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/**
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* Set the source object that causes the counter to count up.
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*
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* Set the up counting DigitalSource.
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*
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* @param source Pointer to the DigitalSource object to set as the up source
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*/
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void Counter::SetUpSource(DigitalSource* source) {
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SetUpSource(
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std::shared_ptr<DigitalSource>(source, NullDeleter<DigitalSource>()));
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}
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void Counter::SetUpSource(std::shared_ptr<DigitalSource> source) {
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if (StatusIsFatal()) return;
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m_upSource = source;
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@@ -233,31 +130,11 @@ void Counter::SetUpSource(std::shared_ptr<DigitalSource> source) {
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}
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}
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void Counter::SetUpSource(DigitalSource* source) {
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SetUpSource(
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std::shared_ptr<DigitalSource>(source, NullDeleter<DigitalSource>()));
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}
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/**
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* Set the source object that causes the counter to count up.
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*
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* Set the up counting DigitalSource.
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*
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* @param source Reference to the DigitalSource object to set as the up source
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*/
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void Counter::SetUpSource(DigitalSource& source) {
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SetUpSource(
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std::shared_ptr<DigitalSource>(&source, NullDeleter<DigitalSource>()));
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}
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/**
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* Set the edge sensitivity on an up counting source.
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*
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* Set the up source to either detect rising edges or falling edges or both.
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*
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* @param risingEdge True to trigger on rising edges
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* @param fallingEdge True to trigger on falling edges
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*/
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void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge) {
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if (StatusIsFatal()) return;
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if (m_upSource == nullptr) {
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@@ -270,9 +147,6 @@ void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Disable the up counting source to the counter.
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*/
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void Counter::ClearUpSource() {
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if (StatusIsFatal()) return;
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m_upSource.reset();
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@@ -281,25 +155,12 @@ void Counter::ClearUpSource() {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set the down counting source to be a digital input channel.
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*
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* @param channel The DIO channel to use as the up source. 0-9 are on-board,
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* 10-25 are on the MXP
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*/
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void Counter::SetDownSource(int channel) {
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if (StatusIsFatal()) return;
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SetDownSource(std::make_shared<DigitalInput>(channel));
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AddChild(m_downSource);
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}
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/**
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* Set the down counting source to be an analog trigger.
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*
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* @param analogTrigger The analog trigger object that is used for the Down
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* Source
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* @param triggerType The analog trigger output that will trigger the counter.
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*/
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void Counter::SetDownSource(AnalogTrigger* analogTrigger,
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AnalogTriggerType triggerType) {
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SetDownSource(std::shared_ptr<AnalogTrigger>(analogTrigger,
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@@ -307,26 +168,22 @@ void Counter::SetDownSource(AnalogTrigger* analogTrigger,
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triggerType);
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}
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/**
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* Set the down counting source to be an analog trigger.
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*
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* @param analogTrigger The analog trigger object that is used for the Down
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* Source
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* @param triggerType The analog trigger output that will trigger the counter.
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*/
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void Counter::SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
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AnalogTriggerType triggerType) {
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if (StatusIsFatal()) return;
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SetDownSource(analogTrigger->CreateOutput(triggerType));
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}
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/**
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* Set the source object that causes the counter to count down.
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*
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* Set the down counting DigitalSource.
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*
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* @param source Pointer to the DigitalSource object to set as the down source
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*/
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void Counter::SetDownSource(DigitalSource* source) {
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SetDownSource(
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std::shared_ptr<DigitalSource>(source, NullDeleter<DigitalSource>()));
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}
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void Counter::SetDownSource(DigitalSource& source) {
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SetDownSource(
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std::shared_ptr<DigitalSource>(&source, NullDeleter<DigitalSource>()));
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}
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void Counter::SetDownSource(std::shared_ptr<DigitalSource> source) {
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if (StatusIsFatal()) return;
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m_downSource = source;
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@@ -342,31 +199,6 @@ void Counter::SetDownSource(std::shared_ptr<DigitalSource> source) {
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}
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}
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void Counter::SetDownSource(DigitalSource* source) {
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SetDownSource(
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std::shared_ptr<DigitalSource>(source, NullDeleter<DigitalSource>()));
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}
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/**
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* Set the source object that causes the counter to count down.
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*
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* Set the down counting DigitalSource.
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*
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* @param source Reference to the DigitalSource object to set as the down source
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*/
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void Counter::SetDownSource(DigitalSource& source) {
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SetDownSource(
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std::shared_ptr<DigitalSource>(&source, NullDeleter<DigitalSource>()));
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}
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/**
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* Set the edge sensitivity on a down counting source.
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*
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* Set the down source to either detect rising edges or falling edges.
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*
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* @param risingEdge True to trigger on rising edges
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* @param fallingEdge True to trigger on falling edges
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*/
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void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) {
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if (StatusIsFatal()) return;
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if (m_downSource == nullptr) {
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@@ -379,9 +211,6 @@ void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Disable the down counting source to the counter.
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*/
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void Counter::ClearDownSource() {
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if (StatusIsFatal()) return;
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m_downSource.reset();
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@@ -390,11 +219,6 @@ void Counter::ClearDownSource() {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set standard up / down counting mode on this counter.
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*
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* Up and down counts are sourced independently from two inputs.
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*/
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void Counter::SetUpDownCounterMode() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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@@ -402,12 +226,6 @@ void Counter::SetUpDownCounterMode() {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set external direction mode on this counter.
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*
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* Counts are sourced on the Up counter input.
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* The Down counter input represents the direction to count.
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*/
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void Counter::SetExternalDirectionMode() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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@@ -415,11 +233,6 @@ void Counter::SetExternalDirectionMode() {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set Semi-period mode on this counter.
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*
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* Counts up on both rising and falling edges.
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*/
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void Counter::SetSemiPeriodMode(bool highSemiPeriod) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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@@ -427,15 +240,6 @@ void Counter::SetSemiPeriodMode(bool highSemiPeriod) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Configure the counter to count in up or down based on the length of the input
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* pulse.
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*
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* This mode is most useful for direction sensitive gear tooth sensors.
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*
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* @param threshold The pulse length beyond which the counter counts the
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* opposite direction. Units are seconds.
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*/
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void Counter::SetPulseLengthMode(double threshold) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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@@ -443,29 +247,13 @@ void Counter::SetPulseLengthMode(double threshold) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the Samples to Average which specifies the number of samples of the timer
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* to average when calculating the period.
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*
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* Perform averaging to account for mechanical imperfections or as oversampling
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* to increase resolution.
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*
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* @return The number of samples being averaged (from 1 to 127)
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*/
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int Counter::GetSamplesToAverage() const {
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void Counter::SetReverseDirection(bool reverseDirection) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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int samples = HAL_GetCounterSamplesToAverage(m_counter, &status);
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HAL_SetCounterReverseDirection(m_counter, reverseDirection, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return samples;
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}
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/**
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* Set the Samples to Average which specifies the number of samples of the timer
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* to average when calculating the period. Perform averaging to account for
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* mechanical imperfections or as oversampling to increase resolution.
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*
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* @param samplesToAverage The number of samples to average from 1 to 127.
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*/
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void Counter::SetSamplesToAverage(int samplesToAverage) {
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if (samplesToAverage < 1 || samplesToAverage > 127) {
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wpi_setWPIErrorWithContext(
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@@ -477,12 +265,15 @@ void Counter::SetSamplesToAverage(int samplesToAverage) {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Read the current counter value.
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*
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* Read the value at this instant. It may still be running, so it reflects the
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* current value. Next time it is read, it might have a different value.
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*/
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int Counter::GetSamplesToAverage() const {
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int32_t status = 0;
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int samples = HAL_GetCounterSamplesToAverage(m_counter, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return samples;
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}
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int Counter::GetFPGAIndex() const { return m_index; }
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int Counter::Get() const {
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if (StatusIsFatal()) return 0;
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int32_t status = 0;
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@@ -491,12 +282,6 @@ int Counter::Get() const {
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return value;
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}
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/**
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* Reset the Counter to zero.
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*
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* Set the counter value to zero. This doesn't effect the running state of the
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* counter, just sets the current value to zero.
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*/
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void Counter::Reset() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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@@ -504,14 +289,6 @@ void Counter::Reset() {
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the Period of the most recent count.
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*
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* Returns the time interval of the most recent count. This can be used for
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* velocity calculations to determine shaft speed.
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*
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* @returns The period between the last two pulses in units of seconds.
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*/
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double Counter::GetPeriod() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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@@ -520,16 +297,6 @@ double Counter::GetPeriod() const {
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return value;
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}
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/**
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* Set the maximum period where the device is still considered "moving".
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*
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* Sets the maximum period where the device is considered moving. This value is
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* used to determine the "stopped" state of the counter using the GetStopped
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||||
* 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);
|
||||
|
||||
Reference in New Issue
Block a user