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Add methods to retreive the FPGA index for counters and encoders and return the encoding type as an integer

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Change-Id: Iaa4062ec124b968b27e7c812cc754032fcb354d2

Add methods to retrieve the FPGA index for counters and encoders and return the encoding type as an integer

Change-Id: If04dc291f39a9b331495d2b97a8b87d3ded71280
This commit is contained in:
Brad Miller
2014-12-30 17:36:12 -05:00
parent b94341a23e
commit fb7f5e9de8
9 changed files with 89 additions and 10 deletions
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2
wpilibc/wpilibC++Devices/include/Counter.h
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@@ -67,7 +67,7 @@ public:
bool GetDirection();
void SetSamplesToAverage(int samplesToAverage);
int GetSamplesToAverage();
uint32_t GetIndex()
uint32_t GetFPGAIndex()
{
return m_index;
}

8
wpilibc/wpilibC++Devices/include/Encoder.h
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@@ -41,6 +41,7 @@ public:
// CounterBase interface
int32_t Get();
int32_t GetRaw();
int32_t GetEncodingScale();
void Reset();
double GetPeriod();
void SetMaxPeriod(double maxPeriod);
@@ -63,6 +64,11 @@ public:
void InitTable(ITable *subTable);
ITable * GetTable();
int32_t GetFPGAIndex()
{
return m_index;
}
private:
void InitEncoder(bool _reverseDirection, EncodingType encodingType);
double DecodingScaleFactor();
@@ -72,9 +78,11 @@ private:
bool m_allocatedASource; // was the A source allocated locally?
bool m_allocatedBSource; // was the B source allocated locally?
void* m_encoder;
int32_t m_index; // The encoder's FPGA index.
double m_distancePerPulse; // distance of travel for each encoder tick
Counter *m_counter; // Counter object for 1x and 2x encoding
EncodingType m_encodingType; // Encoding type
int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
PIDSourceParameter m_pidSource; // Encoder parameter that sources a PID controller
ITable *m_table;

6
wpilibc/wpilibC++Devices/src/Counter.cpp
View File

@@ -23,8 +23,8 @@ void Counter::InitCounter(Mode mode)
m_table = NULL;
int32_t status = 0;
uint32_t index = 0;
m_counter = initializeCounter(mode, &index, &status);
m_index = 0;
m_counter = initializeCounter(mode, &m_index, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_upSource = NULL;
@@ -34,7 +34,7 @@ void Counter::InitCounter(Mode mode)
SetMaxPeriod(.5);
HALReport(HALUsageReporting::kResourceType_Counter, index, mode);
HALReport(HALUsageReporting::kResourceType_Counter, m_index, mode);
}
/**

22
wpilibc/wpilibC++Devices/src/Encoder.cpp
View File

@@ -28,11 +28,12 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType)
{
m_table = NULL;
m_encodingType = encodingType;
int32_t index = 0;
m_index = 0;
switch (encodingType)
{
case k4X:
{
m_encodingScale = 4;
if (m_aSource->StatusIsFatal())
{
CloneError(m_aSource);
@@ -44,12 +45,11 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType)
return;
}
int32_t status = 0;
int32_t index = 0;
m_encoder = initializeEncoder(m_aSource->GetModuleForRouting(), m_aSource->GetChannelForRouting(),
m_aSource->GetAnalogTriggerForRouting(),
m_bSource->GetModuleForRouting(), m_bSource->GetChannelForRouting(),
m_bSource->GetAnalogTriggerForRouting(),
reverseDirection, &index, &status);
reverseDirection, &m_index, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
m_counter = NULL;
SetMaxPeriod(.5);
@@ -58,15 +58,19 @@ void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType)
case k1X:
case k2X:
{
m_encodingScale = encodingType == k1X ? 1 : 2;
m_counter = new Counter(m_encodingType, m_aSource, m_bSource, reverseDirection);
index = m_counter->GetIndex();
m_index = m_counter->GetFPGAIndex();
break;
}
default:
wpi_setErrorWithContext(-1, "Invalid encodingType argument");
break;
}
m_distancePerPulse = 1.0;
m_pidSource = kDistance;
HALReport(HALUsageReporting::kResourceType_Encoder, index, encodingType);
HALReport(HALUsageReporting::kResourceType_Encoder, m_index, encodingType);
LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannelForRouting(), this);
}
@@ -178,6 +182,12 @@ Encoder::~Encoder()
}
}
/**
* The encoding scale factor 1x, 2x, or 4x, per the requested encodingType.
* Used to divide raw edge counts down to spec'd counts.
*/
int32_t Encoder::GetEncodingScale() { return m_encodingScale; }
/**
* Gets the raw value from the encoder.
* The raw value is the actual count unscaled by the 1x, 2x, or 4x scale
@@ -232,7 +242,7 @@ void Encoder::Reset()
/**
* Returns the period of the most recent pulse.
* Returns the period of the most recent Encoder pulse in seconds.
* This method compenstates for the decoding type.
* This method compensates for the decoding type.
*
* @deprecated Use GetRate() in favor of this method. This returns unscaled periods and GetRate() scales using value from SetDistancePerPulse().
*

7
wpilibc/wpilibC++Sim/include/Encoder.h
View File

@@ -37,6 +37,7 @@ public:
// CounterBase interface
int32_t Get();
int32_t GetRaw();
int32_t GetEncodingScale();
void Reset();
double GetPeriod();
void SetMaxPeriod(double maxPeriod);
@@ -59,6 +60,11 @@ public:
void InitTable(ITable *subTable);
ITable * GetTable();
int32_t FPGAEncoderIndex()
{
return 0;
}
private:
void InitEncoder(int channelA, int channelB, bool _reverseDirection, EncodingType encodingType);
double DecodingScaleFactor();
@@ -70,6 +76,7 @@ private:
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
PIDSourceParameter m_pidSource; // Encoder parameter that sources a PID controller
bool m_reverseDirection;
SimEncoder* impl;

9
wpilibc/wpilibC++Sim/src/Encoder.cpp
View File

@@ -28,6 +28,9 @@ void Encoder::InitEncoder(int channelA, int channelB, bool reverseDirection, Enc
this->channelA = channelA;
this->channelB = channelB;
m_encodingType = encodingType;
m_encodingScale = encodingType == k4X ? 4
: encodingType == k2X ? 2
: 1;
int32_t index = 0;
m_distancePerPulse = 1.0;
@@ -188,6 +191,12 @@ double Encoder::DecodingScaleFactor()
}
}
/**
* The encoding scale factor 1x, 2x, or 4x, per the requested encodingType.
* Used to divide raw edge counts down to spec'd counts.
*/
int32_t Encoder::GetEncodingScale() { return m_encodingScale; }
/**
* Gets the raw value from the encoder.
* The raw value is the actual count unscaled by the 1x, 2x, or 4x scale

7
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Counter.java
View File

@@ -216,6 +216,13 @@ public class Counter extends SensorBase implements CounterBase,
m_counter = null;
}
/**
* @return the Counter's FPGA index
*/
public int getFPGAIndex() {
return m_index;
}
/**
* Set the upsource for the counter as a digital input channel.
*

19
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -52,6 +52,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
// tick
private Counter m_counter; // Counter object for 1x and 2x encoding
private EncodingType m_encodingType = EncodingType.k4X;
private int m_encodingScale; // 1x, 2x, or 4x, per the encodingType
private boolean m_allocatedA;
private boolean m_allocatedB;
private boolean m_allocatedI;
@@ -77,6 +78,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
private void initEncoder(boolean reverseDirection) {
switch (m_encodingType.value) {
case EncodingType.k4X_val:
m_encodingScale = 4;
ByteBuffer status = ByteBuffer.allocateDirect(4);
// set the byte order
status.order(ByteOrder.LITTLE_ENDIAN);
@@ -98,8 +100,10 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
break;
case EncodingType.k2X_val:
case EncodingType.k1X_val:
m_encodingScale = m_encodingType == EncodingType.k1X ? 1 : 2;
m_counter = new Counter(m_encodingType, m_aSource, m_bSource,
reverseDirection);
m_index = m_counter.getFPGAIndex();
break;
}
m_distancePerPulse = 1.0;
@@ -375,6 +379,21 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
this(aSource, bSource, indexSource, false);
}
/**
* @return the Encoder's FPGA index
*/
public int getFPGAIndex() {
return m_index;
}
/**
* @return the encoding scale factor 1x, 2x, or 4x, per the requested
* encodingType. Used to divide raw edge counts down to spec'd counts.
*/
public int getEncodingScale() {
return m_encodingScale;
}
public void free() {
if (m_aSource != null && m_allocatedA) {
m_aSource.free();

19
wpilibj/wpilibJavaSim/src/main/java/edu/wpi/first/wpilibj/Encoder.java
View File

@@ -29,6 +29,7 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
private int m_index;
private double m_distancePerPulse; // distance of travel for each encoder tick
private EncodingType m_encodingType = EncodingType.k4X;
private int m_encodingScale; // 1x, 2x, or 4x, per the encodingType
private boolean m_allocatedA;
private boolean m_allocatedB;
private boolean m_allocatedI;
@@ -56,6 +57,9 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
private void initEncoder(int aChannel, int bChannel, boolean reverseDirection) {
m_distancePerPulse = 1.0;
m_pidSource = PIDSourceParameter.kDistance;
m_encodingScale = m_encodingType == EncodingType.k4X ? 4
: m_encodingType == EncodingType.k2X ? 2
: 1;
LiveWindow.addSensor("Encoder", aChannel, this);
@@ -142,6 +146,21 @@ public class Encoder extends SensorBase implements CounterBase, PIDSource, LiveW
initEncoder(aChannel, bChannel, reverseDirection);
}
/**
* @return the Encoder's FPGA index
*/
public int getFPGAEncoderIndex() {
return m_index;
}
/**
* @return the encoding scale factor 1x, 2x, or 4x, per the requested
* encodingType. Used to divide raw edge counts down to spec'd counts.
*/
public int getEncodingScale() {
return m_encodingScale;
}
public void free() {}
/**