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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.
This commit is contained in:
Peter Mitrano
committed by
Peter Johnson
Peter Johnson
parent
54092378e9
commit
e71f454b9d
580
wpilibc/athena/src/Encoder.cpp
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580
wpilibc/athena/src/Encoder.cpp
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@@ -0,0 +1,580 @@
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "LiveWindow/LiveWindow.h"
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#include "Resource.h"
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#include "WPIErrors.h"
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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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m_encodingType = encodingType;
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switch (encodingType) {
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case k4X: {
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m_encodingScale = 4;
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if (m_aSource->StatusIsFatal()) {
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CloneError(*m_aSource);
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return;
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}
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if (m_bSource->StatusIsFatal()) {
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CloneError(*m_bSource);
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return;
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}
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int32_t status = 0;
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m_encoder = initializeEncoder(
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m_aSource->GetModuleForRouting(), m_aSource->GetChannelForRouting(),
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m_aSource->GetAnalogTriggerForRouting(),
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m_bSource->GetModuleForRouting(), m_bSource->GetChannelForRouting(),
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m_bSource->GetAnalogTriggerForRouting(), reverseDirection, &m_index,
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&status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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m_counter = nullptr;
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SetMaxPeriod(.5);
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break;
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}
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case k1X:
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case k2X: {
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m_encodingScale = encodingType == k1X ? 1 : 2;
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m_counter = std::make_unique<Counter>(m_encodingType, m_aSource,
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m_bSource, reverseDirection);
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m_index = m_counter->GetFPGAIndex();
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break;
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}
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default:
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wpi_setErrorWithContext(-1, "Invalid encodingType argument");
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break;
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}
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HALReport(HALUsageReporting::kResourceType_Encoder, m_index, encodingType);
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LiveWindow::GetInstance()->AddSensor("Encoder",
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m_aSource->GetChannelForRouting(), 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(uint32_t aChannel, uint32_t 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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if (!m_counter) {
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int32_t status = 0;
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freeEncoder(m_encoder, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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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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int32_t Encoder::GetEncodingScale() const { return m_encodingScale; }
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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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int32_t Encoder::GetRaw() const {
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if (StatusIsFatal()) return 0;
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int32_t value;
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if (m_counter)
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value = m_counter->Get();
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else {
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int32_t status = 0;
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value = getEncoder(m_encoder, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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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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int32_t Encoder::Get() const {
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if (StatusIsFatal()) return 0;
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return (int32_t)(GetRaw() * DecodingScaleFactor());
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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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if (m_counter)
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m_counter->Reset();
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else {
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int32_t status = 0;
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resetEncoder(m_encoder, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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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.
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* This method compensates for the decoding type.
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*
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* @deprecated Use GetRate() in favor of this method. This returns unscaled
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* periods and GetRate() scales using value from
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* 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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if (m_counter) {
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return m_counter->GetPeriod() / DecodingScaleFactor();
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} else {
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int32_t status = 0;
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double period = getEncoderPeriod(m_encoder, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return period;
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}
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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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if (m_counter) {
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m_counter->SetMaxPeriod(maxPeriod * DecodingScaleFactor());
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} else {
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int32_t status = 0;
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setEncoderMaxPeriod(m_encoder, maxPeriod, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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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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if (m_counter) {
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return m_counter->GetStopped();
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} else {
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int32_t status = 0;
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bool value = getEncoderStopped(m_encoder, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return value;
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}
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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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if (m_counter) {
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return m_counter->GetDirection();
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} else {
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int32_t status = 0;
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bool value = getEncoderDirection(m_encoder, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return value;
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}
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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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switch (m_encodingType) {
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case k1X:
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return 1.0;
|
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case k2X:
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return 0.5;
|
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case k4X:
|
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return 0.25;
|
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default:
|
||||
return 0.0;
|
||||
}
|
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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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return GetRaw() * DecodingScaleFactor() * m_distancePerPulse;
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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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return (m_distancePerPulse / GetPeriod());
|
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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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*
|
||||
* @param minRate The minimum rate. The units are in distance per second as
|
||||
* scaled by the value from SetDistancePerPulse().
|
||||
*/
|
||||
void Encoder::SetMinRate(double minRate) {
|
||||
if (StatusIsFatal()) return;
|
||||
SetMaxPeriod(m_distancePerPulse / minRate);
|
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}
|
||||
|
||||
/**
|
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* Set the distance per pulse for this encoder.
|
||||
*
|
||||
* This sets the multiplier used to determine the distance driven based on the
|
||||
* count value from the encoder.
|
||||
*
|
||||
* Do not include the decoding type in this scale. The library already
|
||||
* compensates for the decoding type.
|
||||
*
|
||||
* Set this value based on the encoder's rated Pulses per Revolution and
|
||||
* factor in gearing reductions following the encoder shaft.
|
||||
*
|
||||
* This distance can be in any units you like, linear or angular.
|
||||
*
|
||||
* @param distancePerPulse The scale factor that will be used to convert pulses
|
||||
* to useful units.
|
||||
*/
|
||||
void Encoder::SetDistancePerPulse(double distancePerPulse) {
|
||||
if (StatusIsFatal()) return;
|
||||
m_distancePerPulse = distancePerPulse;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the direction sensing for this encoder.
|
||||
*
|
||||
* This sets the direction sensing on the encoder so that it could count in the
|
||||
* correct software direction regardless of the mounting.
|
||||
*
|
||||
* @param reverseDirection true if the encoder direction should be reversed
|
||||
*/
|
||||
void Encoder::SetReverseDirection(bool reverseDirection) {
|
||||
if (StatusIsFatal()) return;
|
||||
if (m_counter) {
|
||||
m_counter->SetReverseDirection(reverseDirection);
|
||||
} else {
|
||||
int32_t status = 0;
|
||||
setEncoderReverseDirection(m_encoder, reverseDirection, &status);
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Set 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.
|
||||
*
|
||||
* @param samplesToAverage The number of samples to average from 1 to 127.
|
||||
*/
|
||||
void Encoder::SetSamplesToAverage(int samplesToAverage) {
|
||||
if (samplesToAverage < 1 || samplesToAverage > 127) {
|
||||
wpi_setWPIErrorWithContext(
|
||||
ParameterOutOfRange,
|
||||
"Average counter values must be between 1 and 127");
|
||||
}
|
||||
int32_t status = 0;
|
||||
switch (m_encodingType) {
|
||||
case k4X:
|
||||
setEncoderSamplesToAverage(m_encoder, samplesToAverage, &status);
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
break;
|
||||
case k1X:
|
||||
case k2X:
|
||||
m_counter->SetSamplesToAverage(samplesToAverage);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 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)
|
||||
*/
|
||||
int Encoder::GetSamplesToAverage() const {
|
||||
int result = 1;
|
||||
int32_t status = 0;
|
||||
switch (m_encodingType) {
|
||||
case k4X:
|
||||
result = getEncoderSamplesToAverage(m_encoder, &status);
|
||||
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
||||
break;
|
||||
case k1X:
|
||||
case k2X:
|
||||
result = m_counter->GetSamplesToAverage();
|
||||
break;
|
||||
}
|
||||
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(uint32_t channel, Encoder::IndexingType type) {
|
||||
int32_t status = 0;
|
||||
bool activeHigh = (type == kResetWhileHigh) || (type == kResetOnRisingEdge);
|
||||
bool edgeSensitive =
|
||||
(type == kResetOnFallingEdge) || (type == kResetOnRisingEdge);
|
||||
|
||||
setEncoderIndexSource(m_encoder, channel, false, activeHigh, edgeSensitive,
|
||||
&status);
|
||||
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
|
||||
}
|
||||
|
||||
/**
|
||||
* 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
|
||||
*/
|
||||
DEPRECATED("Use pass-by-reference instead.")
|
||||
void Encoder::SetIndexSource(DigitalSource* source,
|
||||
Encoder::IndexingType type) {
|
||||
SetIndexSource(*source, 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;
|
||||
bool activeHigh = (type == kResetWhileHigh) || (type == kResetOnRisingEdge);
|
||||
bool edgeSensitive =
|
||||
(type == kResetOnFallingEdge) || (type == kResetOnRisingEdge);
|
||||
|
||||
setEncoderIndexSource(m_encoder, source.GetChannelForRouting(),
|
||||
source.GetAnalogTriggerForRouting(), activeHigh,
|
||||
edgeSensitive, &status);
|
||||
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
|
||||
}
|
||||
|
||||
void Encoder::UpdateTable() {
|
||||
if (m_table != nullptr) {
|
||||
m_table->PutNumber("Speed", GetRate());
|
||||
m_table->PutNumber("Distance", GetDistance());
|
||||
m_table->PutNumber("Distance per Tick", m_distancePerPulse);
|
||||
}
|
||||
}
|
||||
|
||||
void Encoder::StartLiveWindowMode() {}
|
||||
|
||||
void Encoder::StopLiveWindowMode() {}
|
||||
|
||||
std::string Encoder::GetSmartDashboardType() const {
|
||||
if (m_encodingType == 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