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6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
78 lines
3.0 KiB
C++
78 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "DigitalSource.h"
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class AnalogTrigger;
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/**
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* Class to represent a specific output from an analog trigger.
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* This class is used to get the current output value and also as a
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* DigitalSource
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* to provide routing of an output to digital subsystems on the FPGA such as
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* Counter, Encoder, and Interrupt.
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*
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* The TriggerState output indicates the primary output value of the trigger.
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* If the analog
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* signal is less than the lower limit, the output is false. If the analog
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* value is greater
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* than the upper limit, then the output is true. If the analog value is in
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* between, then
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* the trigger output state maintains its most recent value.
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*
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* The InWindow output indicates whether or not the analog signal is inside the
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* range defined
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* by the limits.
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*
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* The RisingPulse and FallingPulse outputs detect an instantaneous transition
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* from above the
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* upper limit to below the lower limit, and vise versa. These pulses represent
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* a rollover
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* condition of a sensor and can be routed to an up / down couter or to
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* interrupts. Because
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* the outputs generate a pulse, they cannot be read directly. To help ensure
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* that a rollover
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* condition is not missed, there is an average rejection filter available that
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* operates on the
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* upper 8 bits of a 12 bit number and selects the nearest outlyer of 3 samples.
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* This will reject
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* a sample that is (due to averaging or sampling) errantly between the two
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* limits. This filter
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* will fail if more than one sample in a row is errantly in between the two
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* limits. You may see
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* this problem if attempting to use this feature with a mechanical rollover
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* sensor, such as a
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* 360 degree no-stop potentiometer without signal conditioning, because the
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* rollover transition
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* is not sharp / clean enough. Using the averaging engine may help with this,
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* but rotational speeds of
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* the sensor will then be limited.
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*/
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class AnalogTriggerOutput : public DigitalSource {
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friend class AnalogTrigger;
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public:
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virtual ~AnalogTriggerOutput();
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bool Get() const;
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// DigitalSource interface
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virtual uint32_t GetChannelForRouting() const override;
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virtual uint32_t GetModuleForRouting() const override;
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virtual bool GetAnalogTriggerForRouting() const override;
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protected:
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AnalogTriggerOutput(const AnalogTrigger &trigger, AnalogTriggerType outputType);
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private:
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// Uses reference rather than smart pointer because a user can not construct
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// an AnalogTriggerOutput themselves and because the AnalogTriggerOutput
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// should always be in scope at the same time as an AnalogTrigger.
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const AnalogTrigger &m_trigger;
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AnalogTriggerType m_outputType;
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};
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