Renamed folders for consistency, using sim/athena/shared schema (#27)

Rename the following folders: hal/lib/Athena -> hal/lib/athena hal/lib/Desktop -> hal/lib/sim hal/lib/Shared -> hal/lib/shared wpilibc/Athena -> wpilibc/athena wpilibc/simulation -> wpilibc/sim Windows users may need to run gradlew clean after updating.
2026-07-02 02:51:42 +00:00 · 2016-05-22 17:55:51 -04:00
parent 54092378e9
commit e71f454b9d
308 changed files with 14 additions and 14 deletions
--- a/wpilibc/athena/include/AnalogInput.h
+++ b/wpilibc/athena/include/AnalogInput.h
@@ -0,0 +1,85 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2016. 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.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include "HAL/HAL.hpp"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "PIDSource.h"
+#include "SensorBase.h"
+
+#include <memory>
+
+/**
+ * Analog input class.
+ *
+ * Connected to each analog channel is an averaging and oversampling engine.
+ * This engine accumulates the specified ( by SetAverageBits() and
+ * SetOversampleBits() ) number of samples before returning a new value.  This
+ * is not a sliding window average.  The only difference between the oversampled
+ * samples and the averaged samples is that the oversampled samples are simply
+ * accumulated effectively increasing the resolution, while the averaged samples
+ * are divided by the number of samples to retain the resolution, but get more
+ * stable values.
+ */
+class AnalogInput : public SensorBase,
+                    public PIDSource,
+                    public LiveWindowSendable {
+ public:
+  static const uint8_t kAccumulatorModuleNumber = 1;
+  static const uint32_t kAccumulatorNumChannels = 2;
+  static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels];
+
+  explicit AnalogInput(uint32_t channel);
+  virtual ~AnalogInput();
+
+  int16_t GetValue() const;
+  int32_t GetAverageValue() const;
+
+  float GetVoltage() const;
+  float GetAverageVoltage() const;
+
+  uint32_t GetChannel() const;
+
+  void SetAverageBits(uint32_t bits);
+  uint32_t GetAverageBits() const;
+  void SetOversampleBits(uint32_t bits);
+  uint32_t GetOversampleBits() const;
+
+  uint32_t GetLSBWeight() const;
+  int32_t GetOffset() const;
+
+  bool IsAccumulatorChannel() const;
+  void InitAccumulator();
+  void SetAccumulatorInitialValue(int64_t value);
+  void ResetAccumulator();
+  void SetAccumulatorCenter(int32_t center);
+  void SetAccumulatorDeadband(int32_t deadband);
+  int64_t GetAccumulatorValue() const;
+  uint32_t GetAccumulatorCount() const;
+  void GetAccumulatorOutput(int64_t& value, uint32_t& count) const;
+
+  static void SetSampleRate(float samplesPerSecond);
+  static float GetSampleRate();
+
+  double PIDGet() override;
+
+  void UpdateTable() override;
+  void StartLiveWindowMode() override;
+  void StopLiveWindowMode() override;
+  std::string GetSmartDashboardType() const override;
+  void InitTable(std::shared_ptr<ITable> subTable) override;
+  std::shared_ptr<ITable> GetTable() const override;
+
+ private:
+  uint32_t m_channel;
+  // TODO: Adjust HAL to avoid use of raw pointers.
+  void* m_port;
+  int64_t m_accumulatorOffset;
+
+  std::shared_ptr<ITable> m_table;
+};