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[hal, wpilib] Remove digital source from encoder (#7740)

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This commit is contained in:
Thad House
2025-01-28 05:43:09 -08:00
committed by GitHub
parent 3b345fe218
commit b799b285b3
8 changed files with 60 additions and 543 deletions
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20
hal/src/main/native/sim/Encoder.cpp
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@@ -66,11 +66,10 @@ bool GetEncoderBaseHandle(HAL_EncoderHandle handle,
} // namespace hal
extern "C" {
HAL_EncoderHandle HAL_InitializeEncoder(
HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType,
int32_t* status) {
HAL_EncoderHandle HAL_InitializeEncoder(int32_t aChannel, int32_t bChannel,
HAL_Bool reverseDirection,
HAL_EncoderEncodingType encodingType,
int32_t* status) {
hal::init::CheckInit();
HAL_Handle nativeHandle = HAL_kInvalidHandle;
if (encodingType == HAL_EncoderEncodingType::HAL_Encoder_k4X) {
@@ -95,8 +94,8 @@ HAL_EncoderHandle HAL_InitializeEncoder(
return HAL_kInvalidHandle;
}
int16_t index = getHandleIndex(handle);
SimEncoderData[index].digitalChannelA = getHandleIndex(digitalSourceHandleA);
SimEncoderData[index].digitalChannelB = getHandleIndex(digitalSourceHandleB);
SimEncoderData[index].digitalChannelA = aChannel;
SimEncoderData[index].digitalChannelB = bChannel;
SimEncoderData[index].initialized = true;
SimEncoderData[index].reverseDirection = reverseDirection;
SimEncoderData[index].simDevice = 0;
@@ -328,13 +327,6 @@ int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
return SimEncoderData[encoder->index].samplesToAverage;
}
void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
HAL_Handle digitalSourceHandle,
HAL_AnalogTriggerType analogTriggerType,
HAL_EncoderIndexingType type, int32_t* status) {
// Not implemented yet
}
int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
int32_t* status) {
auto encoder = encoderHandles->Get(encoderHandle);