Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-26 01:51:41 +00:00
Code Issues Packages Projects Releases Wiki Activity

Add encoder indexing support in C++

Browse Source 
Java will be done tonight or tomorrow

Change-Id: I3a3287a197b6f071c261172eb8ec930693e8b3c7
This commit is contained in:
Thomas Clark
2015-01-06 16:39:24 -05:00
parent 87e1df068c
commit a2dfffeddc
5 changed files with 165 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
hal/include/HAL/Digital.hpp
View File

@@ -86,6 +86,8 @@ extern "C"
void setEncoderSamplesToAverage(void* encoder_pointer, uint32_t samplesToAverage,
int32_t *status);
uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t *status);
void setEncoderIndexSource(void *encoder_pointer, uint32_t pin, bool analogTrigger, bool activeHigh,
bool edgeSensitive, int32_t *status);
uint16_t getLoopTiming(int32_t *status);

14
hal/lib/Athena/Digital.cpp
View File

@@ -1078,6 +1078,20 @@ uint32_t getEncoderSamplesToAverage(void* encoder_pointer, int32_t *status) {
return encoder->encoder->readTimerConfig_AverageSize(status);
}
/**
* Set an index source for an encoder, which is an input that resets the
* encoder's count.
*/
void setEncoderIndexSource(void *encoder_pointer, uint32_t pin, bool analogTrigger, bool activeHigh,
bool edgeSensitive, int32_t *status) {
Encoder* encoder = (Encoder*) encoder_pointer;
encoder->encoder->writeConfig_IndexSource_Channel((unsigned char)pin, status);
encoder->encoder->writeConfig_IndexSource_Module((unsigned char)0, status);
encoder->encoder->writeConfig_IndexSource_AnalogTrigger(analogTrigger, status);
encoder->encoder->writeConfig_IndexActiveHigh(activeHigh, status);
encoder->encoder->writeConfig_IndexEdgeSensitive(edgeSensitive, status);
}
/**
* Get the loop timing of the PWM system
*

5
wpilibc/wpilibC++Devices/include/Encoder.h
View File

@@ -29,6 +29,7 @@ class DigitalSource;
class Encoder : public SensorBase, public CounterBase, public PIDSource, public LiveWindowSendable
{
public:
enum IndexingType { kResetWhileHigh, kResetWhileLow, kResetOnFallingEdge, kResetOnRisingEdge };
Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
EncodingType encodingType = k4X);
@@ -57,6 +58,10 @@ public:
void SetPIDSourceParameter(PIDSourceParameter pidSource);
double PIDGet();
void SetIndexSource(uint32_t channel, IndexingType type = kResetOnRisingEdge);
void SetIndexSource(DigitalSource *source, IndexingType type = kResetOnRisingEdge);
void SetIndexSource(DigitalSource &source, IndexingType type = kResetOnRisingEdge);
void UpdateTable();
void StartLiveWindowMode();
void StopLiveWindowMode();

41
wpilibc/wpilibC++Devices/src/Encoder.cpp
View File

@@ -507,6 +507,47 @@ 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(uint32_t channel, Encoder::IndexingType type) {
int32_t status = 0;
bool activeHigh = (type == kResetWhileHigh) || (type == kResetOnRisingEdge);
bool edgeSensitive = (type == kResetOnFallingEdge) || (type == kResetOnRisingEdge);
setEncoderIndexSource(m_encoder, channel, false, activeHigh, edgeSensitive, &status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
}
/**
* 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(DigitalSource *source, Encoder::IndexingType type) {
int32_t status = 0;
bool activeHigh = (type == kResetWhileHigh) || (type == kResetOnRisingEdge);
bool edgeSensitive = (type == kResetOnFallingEdge) || (type == kResetOnRisingEdge);
setEncoderIndexSource(m_encoder, source->GetChannelForRouting(), source->GetAnalogTriggerForRouting(), activeHigh,
edgeSensitive, &status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
}
/**
* 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(DigitalSource &source, Encoder::IndexingType type) {
SetIndexSource(&source, type);
}
void Encoder::UpdateTable() {
if (m_table != NULL) {
m_table->PutNumber("Speed", GetRate());

121
wpilibc/wpilibC++IntegrationTests/src/FakeEncoderTest.cpp
View File

@@ -9,24 +9,62 @@
#include "gtest/gtest.h"
#include "TestBench.h"
static const double kDelayTime = 0.01;
static const double kDelayTime = 0.001;
class FakeEncoderTest : public testing::Test {
protected:
Encoder *m_encoder;
DigitalOutput *m_outputA;
DigitalOutput *m_outputB;
AnalogOutput *m_indexOutput;
Encoder *m_encoder;
AnalogTrigger *m_indexAnalogTrigger;
AnalogTriggerOutput *m_indexAnalogTriggerOutput;
virtual void SetUp() {
m_outputA = new DigitalOutput(TestBench::kLoop2OutputChannel);
m_outputB = new DigitalOutput(TestBench::kLoop1OutputChannel);
m_indexOutput = new AnalogOutput(TestBench::kAnalogOutputChannel);
m_encoder = new Encoder(TestBench::kLoop1InputChannel, TestBench::kLoop2InputChannel);
m_indexAnalogTrigger = new AnalogTrigger(TestBench::kFakeAnalogOutputChannel);
m_indexAnalogTrigger->SetLimitsVoltage(2.0, 3.0);
m_indexAnalogTriggerOutput = m_indexAnalogTrigger->CreateOutput(AnalogTriggerType::kState);
}
virtual void TearDown() {
delete m_encoder;
delete m_outputA;
delete m_outputB;
delete m_indexOutput;
delete m_encoder;
delete m_indexAnalogTrigger;
delete m_indexAnalogTriggerOutput;
}
/**
* Output pulses to the encoder's input channels to simulate a change of 100 ticks
*/
void Simulate100QuadratureTicks() {
for(int i = 0; i < 100; i++) {
m_outputA->Set(true);
Wait(kDelayTime);
m_outputB->Set(true);
Wait(kDelayTime);
m_outputA->Set(false);
Wait(kDelayTime);
m_outputB->Set(false);
Wait(kDelayTime);
}
}
void SetIndexHigh() {
m_indexOutput->SetVoltage(5.0);
Wait(kDelayTime);
}
void SetIndexLow() {
m_indexOutput->SetVoltage(0.0);
Wait(kDelayTime);
}
};
@@ -42,22 +80,69 @@ TEST_F(FakeEncoderTest, TestDefaultState) {
* Test the encoder by setting the digital outputs and reading the value.
*/
TEST_F(FakeEncoderTest, TestCountUp) {
m_outputA->Set(false);
m_outputB->Set(false);
m_encoder->Reset();
//Sets the outputs such that the encoder moves in the positive direction
for(int i = 0; i < 100; i++) {
m_outputA->Set(true);
Wait(kDelayTime);
m_outputB->Set(true);
Wait(kDelayTime);
m_outputA->Set(false);
Wait(kDelayTime);
m_outputB->Set(false);
Wait(kDelayTime);
}
Simulate100QuadratureTicks();
EXPECT_FLOAT_EQ(100.0f, m_encoder->Get())
<< "Encoder did not count to 100.";
}
/**
* Test that the encoder can stay reset while the index source is high
*/
TEST_F(FakeEncoderTest, TestResetWhileHigh) {
m_encoder->SetIndexSource(m_indexAnalogTriggerOutput, Encoder::IndexingType::kResetWhileHigh);
SetIndexLow();
Simulate100QuadratureTicks();
SetIndexHigh();
EXPECT_EQ(0, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(0, m_encoder->Get());
}
/**
* Test that the encoder can reset when the index source goes from low to high
*/
TEST_F(FakeEncoderTest, TestResetOnRisingEdge) {
m_encoder->SetIndexSource(m_indexAnalogTriggerOutput, Encoder::IndexingType::kResetOnRisingEdge);
SetIndexLow();
Simulate100QuadratureTicks();
SetIndexHigh();
EXPECT_EQ(0, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(100, m_encoder->Get());
}
/**
* Test that the encoder can stay reset while the index source is low
*/
TEST_F(FakeEncoderTest, TestResetWhileLow) {
m_encoder->SetIndexSource(m_indexAnalogTriggerOutput, Encoder::IndexingType::kResetWhileLow);
SetIndexHigh();
Simulate100QuadratureTicks();
SetIndexLow();
EXPECT_EQ(0, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(0, m_encoder->Get());
}
/**
* Test that the encoder can reset when the index source goes from high to low
*/
TEST_F(FakeEncoderTest, TestResetOnFallingEdge) {
m_encoder->SetIndexSource(m_indexAnalogTriggerOutput, Encoder::IndexingType::kResetOnFallingEdge);
SetIndexHigh();
Simulate100QuadratureTicks();
SetIndexLow();
EXPECT_EQ(0, m_encoder->Get());
Simulate100QuadratureTicks();
EXPECT_EQ(100, m_encoder->Get());
}