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Moved C++ comments from source files to headers (#1111)

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Also sorted functions in C++ sources to match order in related headers.
This commit is contained in:
Tyler Veness
2018-05-31 20:47:15 -07:00
committed by Peter Johnson
parent d9971a705a
commit 8c680a26f8
234 changed files with 9936 additions and 9309 deletions
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333
wpilibc/src/main/native/cpp/Encoder.cpp
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@@ -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<DigitalInput>(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<DigitalSource>()),
@@ -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<DigitalSource>()),
m_bSource(&bSource, NullDeleter<DigitalSource>()) {
InitEncoder(reverseDirection, encodingType);
}
Encoder::Encoder(std::shared_ptr<DigitalSource> aSource,
std::shared_ptr<DigitalSource> bSource, bool reverseDirection,
EncodingType encodingType)
@@ -123,84 +51,12 @@ Encoder::Encoder(std::shared_ptr<DigitalSource> 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<DigitalSource>()),
m_bSource(&bSource, NullDeleter<DigitalSource>()) {
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<DigitalInput>(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;
}