Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Update to 2018_v4 image and new build system. (#598)

Browse Source 
* Revert "Force OpenCV to 3.1.0 (#602)"

This reverts commit 50ed55e8e2.

* Removes Simulation

* Removes old build system

* Removes old gtest

* Adds new gmock and gtest

* Updates to new ni-libraries

* removes MyRobot (to be replaced)

* moves files to new location

* Adds new sim backend and new test executables

* updates .styleguide and .gitignore

* Changes cpp WPILibVersion to a function

MSVC throws an AV with the old version.

* Disables USBCamera on all systems except for linux

* 2018 NI Libraries

* New build system
This commit is contained in:
Thad House
2017-08-18 21:35:53 -07:00
committed by Peter Johnson
parent 50ed55e8e2
commit e1195e8b9d
1024 changed files with 64481 additions and 61340 deletions
Download Patch File Download Diff File Expand all files Collapse all files

106
hal/src/main/native/athena/AnalogOutput.cpp Normal file
View File

@@ -0,0 +1,106 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016-2017. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#include "HAL/AnalogOutput.h"
#include "AnalogInternal.h"
#include "HAL/Errors.h"
#include "HAL/handles/HandlesInternal.h"
#include "HAL/handles/IndexedHandleResource.h"
#include "PortsInternal.h"
using namespace hal;
namespace {
struct AnalogOutput {
uint8_t channel;
};
}
static IndexedHandleResource<HAL_AnalogOutputHandle, AnalogOutput,
kNumAnalogOutputs, HAL_HandleEnum::AnalogOutput>
analogOutputHandles;
extern "C" {
/**
* Initialize the analog output port using the given port object.
*/
HAL_AnalogOutputHandle HAL_InitializeAnalogOutputPort(HAL_PortHandle portHandle,
int32_t* status) {
initializeAnalog(status);
if (*status != 0) return HAL_kInvalidHandle;
int16_t channel = getPortHandleChannel(portHandle);
if (channel == InvalidHandleIndex) {
*status = PARAMETER_OUT_OF_RANGE;
return HAL_kInvalidHandle;
}
HAL_AnalogOutputHandle handle = analogOutputHandles.Allocate(channel, status);
if (*status != 0)
return HAL_kInvalidHandle; // failed to allocate. Pass error back.
auto port = analogOutputHandles.Get(handle);
if (port == nullptr) { // would only error on thread issue
*status = HAL_HANDLE_ERROR;
return HAL_kInvalidHandle;
}
port->channel = static_cast<uint8_t>(channel);
return handle;
}
void HAL_FreeAnalogOutputPort(HAL_AnalogOutputHandle analogOutputHandle) {
// no status, so no need to check for a proper free.
analogOutputHandles.Free(analogOutputHandle);
}
/**
* Check that the analog output channel number is value.
* Verify that the analog channel number is one of the legal channel numbers.
* Channel numbers are 0-based.
*
* @return Analog channel is valid
*/
HAL_Bool HAL_CheckAnalogOutputChannel(int32_t channel) {
return channel < kNumAnalogOutputs && channel >= 0;
}
void HAL_SetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
double voltage, int32_t* status) {
auto port = analogOutputHandles.Get(analogOutputHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
uint16_t rawValue = static_cast<uint16_t>(voltage / 5.0 * 0x1000);
if (voltage < 0.0)
rawValue = 0;
else if (voltage > 5.0)
rawValue = 0x1000;
analogOutputSystem->writeMXP(port->channel, rawValue, status);
}
double HAL_GetAnalogOutput(HAL_AnalogOutputHandle analogOutputHandle,
int32_t* status) {
auto port = analogOutputHandles.Get(analogOutputHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return 0.0;
}
uint16_t rawValue = analogOutputSystem->readMXP(port->channel, status);
return rawValue * 5.0 / 0x1000;
}
}