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Update to 2018_v4 image and new build system. (#598)
* 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
committed by
Peter Johnson
Peter Johnson
parent
50ed55e8e2
commit
e1195e8b9d
512
wpilibc/src/main/native/cpp/Encoder.cpp
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512
wpilibc/src/main/native/cpp/Encoder.cpp
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@@ -0,0 +1,512 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "Encoder.h"
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#include "DigitalInput.h"
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#include "HAL/HAL.h"
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#include "LiveWindow/LiveWindow.h"
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#include "WPIErrors.h"
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using namespace frc;
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/**
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* Common initialization code for Encoders.
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*
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* This code allocates resources for Encoders and is common to all constructors.
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*
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* The counter will start counting immediately.
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*
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* @param reverseDirection If true, counts down instead of up (this is all
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* relative)
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
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* decoding. If 4X is selected, then an encoder FPGA
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* object is used and the returned counts will be 4x
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* the encoder spec'd value since all rising and
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* falling edges are counted. If 1X or 2X are selected
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* then a counter object will be used and the returned
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* value will either exactly match the spec'd count or
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* be double (2x) the spec'd count.
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*/
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void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
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int32_t status = 0;
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m_encoder = HAL_InitializeEncoder(
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m_aSource->GetPortHandleForRouting(),
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(HAL_AnalogTriggerType)m_aSource->GetAnalogTriggerTypeForRouting(),
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m_bSource->GetPortHandleForRouting(),
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(HAL_AnalogTriggerType)m_bSource->GetAnalogTriggerTypeForRouting(),
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reverseDirection, (HAL_EncoderEncodingType)encodingType, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(),
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encodingType);
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LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannel(),
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this);
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}
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/**
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* Encoder constructor.
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*
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* Construct a Encoder given a and b channels.
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*
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* The counter will start counting immediately.
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*
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* @param aChannel The a channel DIO channel. 0-9 are on-board, 10-25
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* are on the MXP port
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* @param bChannel The b channel DIO channel. 0-9 are on-board, 10-25
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* are on the MXP port
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* @param reverseDirection represents the orientation of the encoder and
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* inverts the output values if necessary so forward
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* represents positive values.
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
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* decoding. If 4X is selected, then an encoder FPGA
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* object is used and the returned counts will be 4x
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* the encoder spec'd value since all rising and
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* falling edges are counted. If 1X or 2X are selected
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* then a counter object will be used and the returned
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* value will either exactly match the spec'd count or
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* be double (2x) the spec'd count.
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*/
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Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
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EncodingType encodingType) {
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m_aSource = std::make_shared<DigitalInput>(aChannel);
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m_bSource = std::make_shared<DigitalInput>(bChannel);
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InitEncoder(reverseDirection, encodingType);
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}
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/**
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* Encoder constructor.
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*
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* Construct a Encoder given a and b channels as digital inputs. This is used in
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* the case where the digital inputs are shared. The Encoder class will not
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* allocate the digital inputs and assume that they already are counted.
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*
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* The counter will start counting immediately.
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*
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* @param aSource The source that should be used for the a channel.
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* @param bSource the source that should be used for the b channel.
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* @param reverseDirection represents the orientation of the encoder and
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* inverts the output values if necessary so forward
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* represents positive values.
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
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* decoding. If 4X is selected, then an encoder FPGA
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* object is used and the returned counts will be 4x
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* the encoder spec'd value since all rising and
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* falling edges are counted. If 1X or 2X are selected
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* then a counter object will be used and the returned
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* value will either exactly match the spec'd count or
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* be double (2x) the spec'd count.
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*/
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Encoder::Encoder(DigitalSource* aSource, DigitalSource* bSource,
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bool reverseDirection, EncodingType encodingType)
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: m_aSource(aSource, NullDeleter<DigitalSource>()),
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m_bSource(bSource, NullDeleter<DigitalSource>()) {
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if (m_aSource == nullptr || m_bSource == nullptr)
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wpi_setWPIError(NullParameter);
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else
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InitEncoder(reverseDirection, encodingType);
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}
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Encoder::Encoder(std::shared_ptr<DigitalSource> aSource,
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std::shared_ptr<DigitalSource> bSource, bool reverseDirection,
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EncodingType encodingType)
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: m_aSource(aSource), m_bSource(bSource) {
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if (m_aSource == nullptr || m_bSource == nullptr)
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wpi_setWPIError(NullParameter);
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else
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InitEncoder(reverseDirection, encodingType);
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}
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/**
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* Encoder constructor.
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*
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* Construct a Encoder given a and b channels as digital inputs. This is used in
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* the case where the digital inputs are shared. The Encoder class will not
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* allocate the digital inputs and assume that they already are counted.
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*
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* The counter will start counting immediately.
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*
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* @param aSource The source that should be used for the a channel.
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* @param bSource the source that should be used for the b channel.
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* @param reverseDirection represents the orientation of the encoder and
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* inverts the output values if necessary so forward
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* represents positive values.
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
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* decoding. If 4X is selected, then an encoder FPGA
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* object is used and the returned counts will be 4x
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* the encoder spec'd value since all rising and
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* falling edges are counted. If 1X or 2X are selected
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* then a counter object will be used and the returned
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* value will either exactly match the spec'd count or
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* be double (2x) the spec'd count.
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*/
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Encoder::Encoder(DigitalSource& aSource, DigitalSource& bSource,
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bool reverseDirection, EncodingType encodingType)
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: m_aSource(&aSource, NullDeleter<DigitalSource>()),
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m_bSource(&bSource, NullDeleter<DigitalSource>()) {
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InitEncoder(reverseDirection, encodingType);
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}
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/**
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* Free the resources for an Encoder.
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*
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* Frees the FPGA resources associated with an Encoder.
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*/
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Encoder::~Encoder() {
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int32_t status = 0;
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HAL_FreeEncoder(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* The encoding scale factor 1x, 2x, or 4x, per the requested encodingType.
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*
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* Used to divide raw edge counts down to spec'd counts.
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*/
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int Encoder::GetEncodingScale() const {
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int32_t status = 0;
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int val = HAL_GetEncoderEncodingScale(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return val;
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}
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/**
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* Gets the raw value from the encoder.
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*
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* The raw value is the actual count unscaled by the 1x, 2x, or 4x scale
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* factor.
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*
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* @return Current raw count from the encoder
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*/
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int Encoder::GetRaw() const {
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if (StatusIsFatal()) return 0;
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int32_t status = 0;
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int value = HAL_GetEncoderRaw(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* Gets the current count.
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*
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* Returns the current count on the Encoder. This method compensates for the
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* decoding type.
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*
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* @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale
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* factor.
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*/
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int Encoder::Get() const {
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if (StatusIsFatal()) return 0;
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int32_t status = 0;
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int value = HAL_GetEncoder(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* Reset the Encoder distance to zero.
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*
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* Resets the current count to zero on the encoder.
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*/
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void Encoder::Reset() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_ResetEncoder(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Returns the period of the most recent pulse.
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*
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* Returns the period of the most recent Encoder pulse in seconds. This method
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* compensates for the decoding type.
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*
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* Warning: This returns unscaled periods. Use GetRate() for rates that are
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* scaled using the value from SetDistancePerPulse().
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*
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* @return Period in seconds of the most recent pulse.
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*/
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double Encoder::GetPeriod() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double value = HAL_GetEncoderPeriod(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* Sets the maximum period for stopped detection.
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*
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* Sets the value that represents the maximum period of the Encoder before it
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* will assume that the attached device is stopped. This timeout allows users
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* to determine if the wheels or other shaft has stopped rotating.
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* This method compensates for the decoding type.
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*
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* @deprecated Use SetMinRate() in favor of this method. This takes unscaled
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* periods and SetMinRate() scales using value from
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* SetDistancePerPulse().
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*
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* @param maxPeriod The maximum time between rising and falling edges before
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* the FPGA will report the device stopped. This is expressed
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* in seconds.
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*/
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void Encoder::SetMaxPeriod(double maxPeriod) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetEncoderMaxPeriod(m_encoder, maxPeriod, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Determine if the encoder is stopped.
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*
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* Using the MaxPeriod value, a boolean is returned that is true if the encoder
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* is considered stopped and false if it is still moving. A stopped encoder is
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* one where the most recent pulse width exceeds the MaxPeriod.
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*
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* @return True if the encoder is considered stopped.
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*/
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bool Encoder::GetStopped() const {
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if (StatusIsFatal()) return true;
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int32_t status = 0;
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bool value = HAL_GetEncoderStopped(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* The last direction the encoder value changed.
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*
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* @return The last direction the encoder value changed.
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*/
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bool Encoder::GetDirection() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value = HAL_GetEncoderDirection(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* The scale needed to convert a raw counter value into a number of encoder
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* pulses.
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*/
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double Encoder::DecodingScaleFactor() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double val = HAL_GetEncoderDecodingScaleFactor(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return val;
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}
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/**
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* Get the distance the robot has driven since the last reset.
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*
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* @return The distance driven since the last reset as scaled by the value from
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* SetDistancePerPulse().
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*/
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double Encoder::GetDistance() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double value = HAL_GetEncoderDistance(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* Get the current rate of the encoder.
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*
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* Units are distance per second as scaled by the value from
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* SetDistancePerPulse().
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*
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* @return The current rate of the encoder.
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*/
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double Encoder::GetRate() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double value = HAL_GetEncoderRate(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* Set the minimum rate of the device before the hardware reports it stopped.
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*
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* @param minRate The minimum rate. The units are in distance per second as
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* scaled by the value from SetDistancePerPulse().
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*/
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void Encoder::SetMinRate(double minRate) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetEncoderMinRate(m_encoder, minRate, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set the distance per pulse for this encoder.
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*
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* This sets the multiplier used to determine the distance driven based on the
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* count value from the encoder.
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*
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* Do not include the decoding type in this scale. The library already
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* compensates for the decoding type.
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*
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* Set this value based on the encoder's rated Pulses per Revolution and
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* factor in gearing reductions following the encoder shaft.
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*
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* This distance can be in any units you like, linear or angular.
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*
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* @param distancePerPulse The scale factor that will be used to convert pulses
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* to useful units.
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*/
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void Encoder::SetDistancePerPulse(double distancePerPulse) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetEncoderDistancePerPulse(m_encoder, distancePerPulse, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set the direction sensing for this encoder.
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*
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* This sets the direction sensing on the encoder so that it could count in the
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* correct software direction regardless of the mounting.
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*
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* @param reverseDirection true if the encoder direction should be reversed
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*/
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void Encoder::SetReverseDirection(bool reverseDirection) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetEncoderReverseDirection(m_encoder, reverseDirection, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
|
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* Set the Samples to Average which specifies the number of samples of the timer
|
||||
* to average when calculating the period.
|
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*
|
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* Perform averaging to account for mechanical imperfections or as oversampling
|
||||
* to increase resolution.
|
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*
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* @param samplesToAverage The number of samples to average from 1 to 127.
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*/
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void Encoder::SetSamplesToAverage(int samplesToAverage) {
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if (samplesToAverage < 1 || samplesToAverage > 127) {
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wpi_setWPIErrorWithContext(
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ParameterOutOfRange,
|
||||
"Average counter values must be between 1 and 127");
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return;
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}
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int32_t status = 0;
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HAL_SetEncoderSamplesToAverage(m_encoder, samplesToAverage, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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|
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/**
|
||||
* Get the Samples to Average which specifies the number of samples of the timer
|
||||
* to average when calculating the period.
|
||||
*
|
||||
* Perform averaging to account for mechanical imperfections or as oversampling
|
||||
* to increase resolution.
|
||||
*
|
||||
* @return The number of samples being averaged (from 1 to 127)
|
||||
*/
|
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int Encoder::GetSamplesToAverage() const {
|
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int32_t status = 0;
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int result = HAL_GetEncoderSamplesToAverage(m_encoder, &status);
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||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
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return result;
|
||||
}
|
||||
|
||||
/**
|
||||
* Implement the PIDSource interface.
|
||||
*
|
||||
* @return The current value of the selected source parameter.
|
||||
*/
|
||||
double Encoder::PIDGet() {
|
||||
if (StatusIsFatal()) return 0.0;
|
||||
switch (GetPIDSourceType()) {
|
||||
case PIDSourceType::kDisplacement:
|
||||
return GetDistance();
|
||||
case PIDSourceType::kRate:
|
||||
return GetRate();
|
||||
default:
|
||||
return 0.0;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 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(int channel, Encoder::IndexingType type) {
|
||||
// Force digital input if just given an index
|
||||
m_indexSource = std::make_unique<DigitalInput>(channel);
|
||||
SetIndexSource(*m_indexSource.get(), type);
|
||||
}
|
||||
|
||||
/**
|
||||
* 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(const DigitalSource& source,
|
||||
Encoder::IndexingType type) {
|
||||
int32_t status = 0;
|
||||
HAL_SetEncoderIndexSource(
|
||||
m_encoder, source.GetPortHandleForRouting(),
|
||||
(HAL_AnalogTriggerType)source.GetAnalogTriggerTypeForRouting(),
|
||||
(HAL_EncoderIndexingType)type, &status);
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
}
|
||||
|
||||
int Encoder::GetFPGAIndex() const {
|
||||
int32_t status = 0;
|
||||
int val = HAL_GetEncoderFPGAIndex(m_encoder, &status);
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
return val;
|
||||
}
|
||||
|
||||
void Encoder::UpdateTable() {
|
||||
if (m_table != nullptr) {
|
||||
m_table->PutNumber("Speed", GetRate());
|
||||
m_table->PutNumber("Distance", GetDistance());
|
||||
int32_t status = 0;
|
||||
double distancePerPulse =
|
||||
HAL_GetEncoderDistancePerPulse(m_encoder, &status);
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
m_table->PutNumber("Distance per Tick", distancePerPulse);
|
||||
}
|
||||
}
|
||||
|
||||
void Encoder::StartLiveWindowMode() {}
|
||||
|
||||
void Encoder::StopLiveWindowMode() {}
|
||||
|
||||
std::string Encoder::GetSmartDashboardType() const {
|
||||
int32_t status = 0;
|
||||
HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
|
||||
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
||||
if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X)
|
||||
return "Quadrature Encoder";
|
||||
else
|
||||
return "Encoder";
|
||||
}
|
||||
|
||||
void Encoder::InitTable(std::shared_ptr<ITable> subTable) {
|
||||
m_table = subTable;
|
||||
UpdateTable();
|
||||
}
|
||||
|
||||
std::shared_ptr<ITable> Encoder::GetTable() const { return m_table; }
|
||||
Reference in New Issue
Block a user