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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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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;