Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge "Changed AnalogPotentiometer to use angle specification and rail voltage."

Browse Source
This commit is contained in:
Fred Silberberg (WPI)
2014-12-05 16:58:04 -08:00
committed by Gerrit Code Review
parent 66622b43e7 2ae8f40a58
commit ce8e65d41e
5 changed files with 75 additions and 62 deletions
Download Patch File Download Diff File Expand all files Collapse all files

76
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/AnalogPotentiometer.java
View File

@@ -5,31 +5,37 @@
/* the project. */
/*----------------------------------------------------------------------------*/
package edu.wpi.first.wpilibj;
import java.nio.ByteBuffer;
import java.nio.IntBuffer;
import edu.wpi.first.wpilibj.hal.HALUtil;
import edu.wpi.first.wpilibj.hal.PowerJNI;
import edu.wpi.first.wpilibj.interfaces.Potentiometer;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
/**
* Class for reading analog potentiometers. Analog potentiometers read
* in an analog voltage that corresponds to a position. Usually the
* position is either degrees or meters. However, if no conversion is
* given it remains volts.
* in an analog voltage that corresponds to a position. The position is
* in whichever units you choose, by way of the scaling and offset
* constants passed to the constructor.
*
* @author Alex Henning
* @author Colby Skeggs (rail voltage)
*/
public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
private double m_scale, m_offset;
private double m_fullRange, m_offset;
private AnalogInput m_analog_input;
private boolean m_init_analog_input;
/**
* Common initialization code called by all constructors.
* @param input The {@link AnalogInput} this potentiometer is plugged into.
* @param scale The scaling to multiply the voltage by to get a meaningful unit.
* @param fullRange The scaling to multiply the voltage by to get a meaningful unit.
* @param offset The offset to add to the scaled value for controlling the zero value
*/
private void initPot(final AnalogInput input, double scale, double offset) {
this.m_scale = scale;
private void initPot(final AnalogInput input, double fullRange, double offset) {
this.m_fullRange = fullRange;
this.m_offset = offset;
m_analog_input = input;
}
@@ -37,51 +43,54 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
/**
* AnalogPotentiometer constructor.
*
* Use the scaling and offset values so that the output produces
* Use the fullRange and offset values so that the output produces
* meaningful values. I.E: you have a 270 degree potentiometer and
* you want the output to be degrees with the halfway point as 0
* degrees. The scale value is 270.0(degrees)/5.0(volts) and the
* offset is -135.0 since the halfway point after scaling is 135
* degrees.
* degrees. The fullRange value is 270.0(degrees) and the offset is
* -135.0 since the halfway point after scaling is 135 degrees.
*
* This will calculate the result from the fullRange times the
* fraction of the supply voltage, plus the offset.
*
* @param channel The analog channel this potentiometer is plugged into.
* @param scale The scaling to multiply the voltage by to get a meaningful unit.
* @param fullRange The scaling to multiply the fraction by to get a meaningful unit.
* @param offset The offset to add to the scaled value for controlling the zero value
*/
public AnalogPotentiometer(final int channel, double scale, double offset) {
public AnalogPotentiometer(final int channel, double fullRange, double offset) {
AnalogInput input = new AnalogInput(channel);
m_init_analog_input = true;
initPot(input, scale, offset);
initPot(input, fullRange, offset);
}
/**
* AnalogPotentiometer constructor.
*
* Use the scaling and offset values so that the output produces
* Use the fullRange and offset values so that the output produces
* meaningful values. I.E: you have a 270 degree potentiometer and
* you want the output to be degrees with the halfway point as 0
* degrees. The scale value is 270.0(degrees)/5.0(volts) and the
* offset is -135.0 since the halfway point after scaling is 135
* degrees.
* degrees. The fullRange value is 270.0(degrees) and the offset is
* -135.0 since the halfway point after scaling is 135 degrees.
*
* This will calculate the result from the fullRange times the
* fraction of the supply voltage, plus the offset.
*
* @param input The {@link AnalogInput} this potentiometer is plugged into.
* @param scale The scaling to multiply the voltage by to get a meaningful unit.
* @param fullRange The scaling to multiply the fraction by to get a meaningful unit.
* @param offset The offset to add to the scaled value for controlling the zero value
*/
public AnalogPotentiometer(final AnalogInput input, double scale, double offset) {
public AnalogPotentiometer(final AnalogInput input, double fullRange, double offset) {
m_init_analog_input = false;
initPot(input, scale, offset);
initPot(input, fullRange, offset);
}
/**
* AnalogPotentiometer constructor.
*
* Use the scaling and offset values so that the output produces
* Use the fullRange and offset values so that the output produces
* meaningful values. I.E: you have a 270 degree potentiometer and
* you want the output to be degrees with the halfway point as 0
* degrees. The scale value is 270.0(degrees)/5.0(volts) and the
* offset is -135.0 since the halfway point after scaling is 135
* degrees.
* degrees. The fullRange value is 270.0(degrees) and the offset is
* -135.0 since the halfway point after scaling is 135 degrees.
*
* @param channel The analog channel this potentiometer is plugged into.
* @param scale The scaling to multiply the voltage by to get a meaningful unit.
@@ -93,12 +102,11 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
/**
* AnalogPotentiometer constructor.
*
* Use the scaling and offset values so that the output produces
* Use the fullRange and offset values so that the output produces
* meaningful values. I.E: you have a 270 degree potentiometer and
* you want the output to be degrees with the halfway point as 0
* degrees. The scale value is 270.0(degrees)/5.0(volts) and the
* offset is -135.0 since the halfway point after scaling is 135
* degrees.
* degrees. The fullRange value is 270.0(degrees) and the offset is
* -135.0 since the halfway point after scaling is 135 degrees.
*
* @param input The {@link AnalogInput} this potentiometer is plugged into.
* @param scale The scaling to multiply the voltage by to get a meaningful unit.
@@ -115,7 +123,7 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
public AnalogPotentiometer(final int channel) {
this(channel, 1, 0);
}
/**
* AnalogPotentiometer constructor.
*
@@ -126,12 +134,12 @@ public class AnalogPotentiometer implements Potentiometer, LiveWindowSendable {
}
/**
* Get the current reading of the potentiomere.
* Get the current reading of the potentiometer.
*
* @return The current position of the potentiometer.
*/
public double get() {
return m_analog_input.getVoltage() * m_scale + m_offset;
return (m_analog_input.getVoltage() / ControllerPower.getVoltage5V()) * m_fullRange + m_offset;
}
/**