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.
2026-06-22 01:11:42 +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/sim/include/Encoder.h
+++ b/wpilibc/sim/include/Encoder.h
@@ -0,0 +1,97 @@
+/*----------------------------------------------------------------------------*/
+/* 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 <cstdint>
+#include <memory>
+
+#include "CounterBase.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "PIDSource.h"
+#include "SensorBase.h"
+#include "simulation/SimEncoder.h"
+
+/**
+ * Class to read quad encoders.
+ *
+ * Quadrature encoders are devices that count shaft rotation and can sense
+ * direction. The output of the QuadEncoder class is an integer that can count
+ * either up or down, and can go negative for reverse direction counting. When
+ * creating QuadEncoders, a direction is supplied that changes the sense of the
+ * output to make code more readable if the encoder is mounted such that
+ * forward movement generates negative values. Quadrature encoders have two
+ * digital outputs, an A Channel and a B Channel that are out of phase with
+ * each other to allow the FPGA to do direction sensing.
+ *
+ * All encoders will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
+ */
+class Encoder : public SensorBase,
+                public CounterBase,
+                public PIDSource,
+                public LiveWindowSendable {
+ public:
+  Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
+          EncodingType encodingType = k4X);
+  // TODO: [Not Supported] Encoder(DigitalSource *aSource, DigitalSource
+  // *bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
+  // TODO: [Not Supported] Encoder(DigitalSource &aSource, DigitalSource
+  // &bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
+  virtual ~Encoder() = default;
+
+  // CounterBase interface
+  int32_t Get() const override;
+  int32_t GetRaw() const;
+  int32_t GetEncodingScale() const;
+  void Reset() override;
+  double GetPeriod() const override;
+  void SetMaxPeriod(double maxPeriod) override;
+  bool GetStopped() const override;
+  bool GetDirection() const override;
+
+  double GetDistance() const;
+  double GetRate() const;
+  void SetMinRate(double minRate);
+  void SetDistancePerPulse(double distancePerPulse);
+  void SetReverseDirection(bool reverseDirection);
+  void SetSamplesToAverage(int samplesToAverage);
+  int GetSamplesToAverage() const;
+  void SetPIDSourceType(PIDSourceType pidSource);
+  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;
+
+  int32_t FPGAEncoderIndex() const { return 0; }
+
+ private:
+  void InitEncoder(int channelA, int channelB, bool _reverseDirection,
+                   EncodingType encodingType);
+  double DecodingScaleFactor() const;
+
+  // the A phase of the quad encoder
+  // TODO: [Not Supported] DigitalSource *m_aSource;
+  // the B phase of the quad encoder
+  // TODO: [Not Supported] DigitalSource *m_bSource;
+  // was the A source allocated locally?
+  // TODO: [Not Supported] bool m_allocatedASource;
+  // was the B source allocated locally?
+  // TODO: [Not Supported] bool m_allocatedBSource;
+  int channelA, channelB;
+  double m_distancePerPulse;    // distance of travel for each encoder tick
+  EncodingType m_encodingType;  // Encoding type
+  int32_t m_encodingScale;      // 1x, 2x, or 4x, per the encodingType
+  bool m_reverseDirection;
+  SimEncoder* impl;
+
+  std::shared_ptr<ITable> m_table;
+};