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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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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();