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https://github.com/wpilibsuite/allwpilib
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[wpilib] Rewrite DutyCycleEncoder and AnalogEncoder (#6398)
This commit is contained in:
Thad House
@@ -8,13 +8,11 @@
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#include <hal/SimDevice.h>
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#include <hal/Types.h>
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#include <units/angle.h>
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#include <units/frequency.h>
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#include <units/time.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/AnalogTrigger.h"
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#include "frc/Counter.h"
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namespace frc {
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class DutyCycle;
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class DigitalSource;
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@@ -30,6 +28,8 @@ class DutyCycleEncoder : public wpi::Sendable,
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/**
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* Construct a new DutyCycleEncoder on a specific channel.
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*
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* <p>This has a fullRange of 1 and an expectedZero of 0.
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*
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* @param channel the channel to attach to
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*/
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explicit DutyCycleEncoder(int channel);
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@@ -37,6 +37,8 @@ class DutyCycleEncoder : public wpi::Sendable,
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/**
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* Construct a new DutyCycleEncoder attached to an existing DutyCycle object.
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*
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* <p>This has a fullRange of 1 and an expectedZero of 0.
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*
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* @param dutyCycle the duty cycle to attach to
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*/
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explicit DutyCycleEncoder(DutyCycle& dutyCycle);
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@@ -44,6 +46,8 @@ class DutyCycleEncoder : public wpi::Sendable,
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/**
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* Construct a new DutyCycleEncoder attached to an existing DutyCycle object.
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*
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* <p>This has a fullRange of 1 and an expectedZero of 0.
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*
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* @param dutyCycle the duty cycle to attach to
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*/
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explicit DutyCycleEncoder(DutyCycle* dutyCycle);
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@@ -51,6 +55,8 @@ class DutyCycleEncoder : public wpi::Sendable,
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/**
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* Construct a new DutyCycleEncoder attached to an existing DutyCycle object.
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*
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* <p>This has a fullRange of 1 and an expectedZero of 0.
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*
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* @param dutyCycle the duty cycle to attach to
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*/
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explicit DutyCycleEncoder(std::shared_ptr<DutyCycle> dutyCycle);
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@@ -58,6 +64,8 @@ class DutyCycleEncoder : public wpi::Sendable,
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/**
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* Construct a new DutyCycleEncoder attached to a DigitalSource object.
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*
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* <p>This has a fullRange of 1 and an expectedZero of 0.
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*
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* @param digitalSource the digital source to attach to
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*/
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explicit DutyCycleEncoder(DigitalSource& digitalSource);
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@@ -65,6 +73,8 @@ class DutyCycleEncoder : public wpi::Sendable,
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/**
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* Construct a new DutyCycleEncoder attached to a DigitalSource object.
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*
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* <p>This has a fullRange of 1 and an expectedZero of 0.
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*
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* @param digitalSource the digital source to attach to
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*/
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explicit DutyCycleEncoder(DigitalSource* digitalSource);
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@@ -72,10 +82,79 @@ class DutyCycleEncoder : public wpi::Sendable,
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/**
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* Construct a new DutyCycleEncoder attached to a DigitalSource object.
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*
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* <p>This has a fullRange of 1 and an expectedZero of 0.
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*
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* @param digitalSource the digital source to attach to
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*/
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explicit DutyCycleEncoder(std::shared_ptr<DigitalSource> digitalSource);
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/**
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* Construct a new DutyCycleEncoder on a specific channel.
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*
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* @param channel the channel to attach to
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* @param fullRange the value to report at maximum travel
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* @param expectedZero the reading where you would expect a 0 from get()
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*/
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DutyCycleEncoder(int channel, double fullRange, double expectedZero);
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/**
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* Construct a new DutyCycleEncoder attached to an existing DutyCycle object.
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*
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* @param dutyCycle the duty cycle to attach to
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* @param fullRange the value to report at maximum travel
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* @param expectedZero the reading where you would expect a 0 from get()
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*/
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DutyCycleEncoder(DutyCycle& dutyCycle, double fullRange, double expectedZero);
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/**
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* Construct a new DutyCycleEncoder attached to an existing DutyCycle object.
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*
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* @param dutyCycle the duty cycle to attach to
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* @param fullRange the value to report at maximum travel
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* @param expectedZero the reading where you would expect a 0 from get()
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*/
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DutyCycleEncoder(DutyCycle* dutyCycle, double fullRange, double expectedZero);
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/**
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* Construct a new DutyCycleEncoder attached to an existing DutyCycle object.
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*
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* @param dutyCycle the duty cycle to attach to
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* @param fullRange the value to report at maximum travel
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* @param expectedZero the reading where you would expect a 0 from get()
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*/
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DutyCycleEncoder(std::shared_ptr<DutyCycle> dutyCycle, double fullRange,
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double expectedZero);
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/**
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* Construct a new DutyCycleEncoder attached to a DigitalSource object.
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*
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* @param digitalSource the digital source to attach to
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* @param fullRange the value to report at maximum travel
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* @param expectedZero the reading where you would expect a 0 from get()
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*/
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DutyCycleEncoder(DigitalSource& digitalSource, double fullRange,
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double expectedZero);
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/**
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* Construct a new DutyCycleEncoder attached to a DigitalSource object.
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*
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* @param digitalSource the digital source to attach to
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* @param fullRange the value to report at maximum travel
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* @param expectedZero the reading where you would expect a 0 from get()
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*/
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DutyCycleEncoder(DigitalSource* digitalSource, double fullRange,
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double expectedZero);
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/**
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* Construct a new DutyCycleEncoder attached to a DigitalSource object.
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*
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* @param digitalSource the digital source to attach to
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* @param fullRange the value to report at maximum travel
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* @param expectedZero the reading where you would expect a 0 from get()
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*/
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DutyCycleEncoder(std::shared_ptr<DigitalSource> digitalSource,
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double fullRange, double expectedZero);
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~DutyCycleEncoder() override = default;
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DutyCycleEncoder(DutyCycleEncoder&&) = default;
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@@ -108,52 +187,11 @@ class DutyCycleEncoder : public wpi::Sendable,
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void SetConnectedFrequencyThreshold(int frequency);
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/**
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* Reset the Encoder distance to zero.
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* Get the encoder value.
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*
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* @return the encoder value scaled by the full range input
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*/
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void Reset();
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/**
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* Get the encoder value since the last reset.
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*
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* This is reported in rotations since the last reset.
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*
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* @return the encoder value in rotations
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*/
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units::turn_t Get() const;
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/**
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* Get the absolute position of the duty cycle encoder encoder.
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*
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* <p>GetAbsolutePosition() - GetPositionOffset() will give an encoder
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* absolute position relative to the last reset. This could potentially be
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* negative, which needs to be accounted for.
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*
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* <p>This will not account for rollovers, and will always be just the raw
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* absolute position.
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*
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* @return the absolute position
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*/
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double GetAbsolutePosition() const;
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/**
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* Get the offset of position relative to the last reset.
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*
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* GetAbsolutePosition() - GetPositionOffset() will give an encoder absolute
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* position relative to the last reset. This could potentially be negative,
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* which needs to be accounted for.
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*
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* @return the position offset
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*/
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double GetPositionOffset() const;
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/**
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* Set the position offset.
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*
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* <p>This must be in the range of 0-1.
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*
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* @param offset the offset
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*/
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void SetPositionOffset(double offset);
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double Get() const;
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/**
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* Set the encoder duty cycle range. As the encoder needs to maintain a duty
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@@ -171,32 +209,24 @@ class DutyCycleEncoder : public wpi::Sendable,
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void SetDutyCycleRange(double min, double max);
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/**
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* Set the distance per rotation of the encoder. This sets the multiplier used
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* to determine the distance driven based on the rotation value from the
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* encoder. Set this value based on the how far the mechanism travels in 1
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* rotation of the encoder, and factor in gearing reductions following the
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* encoder shaft. This distance can be in any units you like, linear or
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* angular.
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* Sets the assumed frequency of the connected device.
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*
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* @param distancePerRotation the distance per rotation of the encoder
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* <p>By default, the DutyCycle engine has to compute the frequency of the
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* input signal. This can result in both delayed readings and jumpy readings.
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* To solve this, you can pass the expected frequency of the sensor to this
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* function. This will use that frequency to compute the DutyCycle percentage,
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* rather than the computed frequency.
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*
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* @param frequency the assumed frequency of the sensor
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*/
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void SetDistancePerRotation(double distancePerRotation);
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void SetAssumedFrequency(units::hertz_t frequency);
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/**
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* Get the distance per rotation for this encoder.
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* Set if this encoder is inverted.
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*
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* @return The scale factor that will be used to convert rotation to useful
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* units.
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* @param inverted true to invert the encoder, false otherwise
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*/
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double GetDistancePerRotation() const;
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/**
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* Get the distance the sensor has driven since the last reset as scaled by
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* the value from SetDistancePerRotation.
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*
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* @return The distance driven since the last reset
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*/
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double GetDistance() const;
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void SetInverted(bool inverted);
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/**
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* Get the FPGA index for the DutyCycleEncoder.
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@@ -215,23 +245,20 @@ class DutyCycleEncoder : public wpi::Sendable,
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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void Init();
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void Init(double fullRange, double expectedZero);
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double MapSensorRange(double pos) const;
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std::shared_ptr<DutyCycle> m_dutyCycle;
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std::unique_ptr<AnalogTrigger> m_analogTrigger;
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std::unique_ptr<Counter> m_counter;
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int m_frequencyThreshold = 100;
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double m_positionOffset = 0;
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double m_distancePerRotation = 1.0;
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mutable units::turn_t m_lastPosition{0.0};
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double m_sensorMin = 0;
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double m_sensorMax = 1;
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double m_fullRange;
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double m_expectedZero;
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units::second_t m_period{0_s};
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double m_sensorMin{0.0};
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double m_sensorMax{1.0};
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bool m_isInverted{false};
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hal::SimDevice m_simDevice;
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hal::SimDouble m_simPosition;
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hal::SimDouble m_simAbsolutePosition;
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hal::SimDouble m_simDistancePerRotation;
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hal::SimBoolean m_simIsConnected;
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};
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} // namespace frc
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