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SCRIPT: FRC_ replacements

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This commit is contained in:
PJ Reiniger
2025-11-07 20:00:43 -05:00
committed by Peter Johnson
parent 824f36f63a
commit 928ff20695
143 changed files with 477 additions and 477 deletions
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42
wpilibc/src/main/native/cpp/hardware/rotation/Encoder.cpp
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@@ -25,112 +25,112 @@ Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
int Encoder::Get() const {
int32_t status = 0;
int value = HAL_GetEncoder(m_encoder, &status);
FRC_CheckErrorStatus(status, "Get");
WPILIB_CheckErrorStatus(status, "Get");
return value;
}
void Encoder::Reset() {
int32_t status = 0;
HAL_ResetEncoder(m_encoder, &status);
FRC_CheckErrorStatus(status, "Reset");
WPILIB_CheckErrorStatus(status, "Reset");
}
wpi::units::second_t Encoder::GetPeriod() const {
int32_t status = 0;
double value = HAL_GetEncoderPeriod(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetPeriod");
WPILIB_CheckErrorStatus(status, "GetPeriod");
return wpi::units::second_t{value};
}
void Encoder::SetMaxPeriod(wpi::units::second_t maxPeriod) {
int32_t status = 0;
HAL_SetEncoderMaxPeriod(m_encoder, maxPeriod.value(), &status);
FRC_CheckErrorStatus(status, "SetMaxPeriod");
WPILIB_CheckErrorStatus(status, "SetMaxPeriod");
}
bool Encoder::GetStopped() const {
int32_t status = 0;
bool value = HAL_GetEncoderStopped(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetStopped");
WPILIB_CheckErrorStatus(status, "GetStopped");
return value;
}
bool Encoder::GetDirection() const {
int32_t status = 0;
bool value = HAL_GetEncoderDirection(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetDirection");
WPILIB_CheckErrorStatus(status, "GetDirection");
return value;
}
int Encoder::GetRaw() const {
int32_t status = 0;
int value = HAL_GetEncoderRaw(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetRaw");
WPILIB_CheckErrorStatus(status, "GetRaw");
return value;
}
int Encoder::GetEncodingScale() const {
int32_t status = 0;
int val = HAL_GetEncoderEncodingScale(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetEncodingScale");
WPILIB_CheckErrorStatus(status, "GetEncodingScale");
return val;
}
double Encoder::GetDistance() const {
int32_t status = 0;
double value = HAL_GetEncoderDistance(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetDistance");
WPILIB_CheckErrorStatus(status, "GetDistance");
return value;
}
double Encoder::GetRate() const {
int32_t status = 0;
double value = HAL_GetEncoderRate(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetRate");
WPILIB_CheckErrorStatus(status, "GetRate");
return value;
}
void Encoder::SetMinRate(double minRate) {
int32_t status = 0;
HAL_SetEncoderMinRate(m_encoder, minRate, &status);
FRC_CheckErrorStatus(status, "SetMinRate");
WPILIB_CheckErrorStatus(status, "SetMinRate");
}
void Encoder::SetDistancePerPulse(double distancePerPulse) {
int32_t status = 0;
HAL_SetEncoderDistancePerPulse(m_encoder, distancePerPulse, &status);
FRC_CheckErrorStatus(status, "SetDistancePerPulse");
WPILIB_CheckErrorStatus(status, "SetDistancePerPulse");
}
double Encoder::GetDistancePerPulse() const {
int32_t status = 0;
double distancePerPulse = HAL_GetEncoderDistancePerPulse(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetDistancePerPulse");
WPILIB_CheckErrorStatus(status, "GetDistancePerPulse");
return distancePerPulse;
}
void Encoder::SetReverseDirection(bool reverseDirection) {
int32_t status = 0;
HAL_SetEncoderReverseDirection(m_encoder, reverseDirection, &status);
FRC_CheckErrorStatus(status, "SetReverseDirection");
WPILIB_CheckErrorStatus(status, "SetReverseDirection");
}
void Encoder::SetSamplesToAverage(int samplesToAverage) {
if (samplesToAverage < 1 || samplesToAverage > 127) {
throw FRC_MakeError(
throw WPILIB_MakeError(
err::ParameterOutOfRange,
"Average counter values must be between 1 and 127, got {}",
samplesToAverage);
}
int32_t status = 0;
HAL_SetEncoderSamplesToAverage(m_encoder, samplesToAverage, &status);
FRC_CheckErrorStatus(status, "SetSamplesToAverage");
WPILIB_CheckErrorStatus(status, "SetSamplesToAverage");
}
int Encoder::GetSamplesToAverage() const {
int32_t status = 0;
int result = HAL_GetEncoderSamplesToAverage(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetSamplesToAverage");
WPILIB_CheckErrorStatus(status, "GetSamplesToAverage");
return result;
}
@@ -141,14 +141,14 @@ void Encoder::SetSimDevice(HAL_SimDeviceHandle device) {
int Encoder::GetFPGAIndex() const {
int32_t status = 0;
int val = HAL_GetEncoderFPGAIndex(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetFPGAIndex");
WPILIB_CheckErrorStatus(status, "GetFPGAIndex");
return val;
}
void Encoder::InitSendable(wpi::util::SendableBuilder& builder) {
int32_t status = 0;
HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
FRC_CheckErrorStatus(status, "GetEncodingType");
WPILIB_CheckErrorStatus(status, "GetEncodingType");
if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
builder.SetSmartDashboardType("Quadrature Encoder");
} else {
@@ -169,7 +169,7 @@ void Encoder::InitEncoder(int aChannel, int bChannel, bool reverseDirection,
m_encoder = HAL_InitializeEncoder(
aChannel, bChannel, reverseDirection,
static_cast<HAL_EncoderEncodingType>(encodingType), &status);
FRC_CheckErrorStatus(status, "InitEncoder");
WPILIB_CheckErrorStatus(status, "InitEncoder");
const char* type = "Encoder";
switch (encodingType) {
@@ -190,6 +190,6 @@ void Encoder::InitEncoder(int aChannel, int bChannel, bool reverseDirection,
double Encoder::DecodingScaleFactor() const {
int32_t status = 0;
double val = HAL_GetEncoderDecodingScaleFactor(m_encoder, &status);
FRC_CheckErrorStatus(status, "DecodingScaleFactor");
WPILIB_CheckErrorStatus(status, "DecodingScaleFactor");
return val;
}