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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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22
wpilibc/wpilibC++Devices/src/Encoder.cpp
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@@ -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().
*