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https://github.com/wpilibsuite/allwpilib
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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
86 lines
2.7 KiB
C++
86 lines
2.7 KiB
C++
#pragma once
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#include "AnalogInput.h"
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#include "interfaces/Potentiometer.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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/**
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* Class for reading analog potentiometers. Analog potentiometers read
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* in an analog voltage that corresponds to a position. Usually the
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* position is either degrees or meters. However, if no conversion is
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* given it remains volts.
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*
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* @author Alex Henning
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*/
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class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
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public:
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/**
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* AnalogPotentiometer constructor.
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*
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* Use the scaling and offset values so that the output produces
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* meaningful values. I.E: you have a 270 degree potentiometer and
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* you want the output to be degrees with the halfway point as 0
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* degrees. The scale value is 270.0(degrees)/5.0(volts) and the
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* offset is -135.0 since the halfway point after scaling is 135
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* degrees.
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*
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* @param channel The analog channel this potentiometer is plugged into.
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* @param scale The scaling to multiply the voltage by to get a meaningful unit.
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* @param offset The offset to add to the scaled value for controlling the zero value
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*/
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AnalogPotentiometer(int channel, double scale = 1.0, double offset = 0.0);
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AnalogPotentiometer(AnalogInput *input, double scale = 1.0, double offset = 0.0);
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AnalogPotentiometer(AnalogInput &input, double scale = 1.0, double offset = 0.0);
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virtual ~AnalogPotentiometer();
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/**
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* Get the current reading of the potentiomere.
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*
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* @return The current position of the potentiometer.
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*/
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virtual double Get() const;
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/**
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* Implement the PIDSource interface.
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*
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* @return The current reading.
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*/
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virtual double PIDGet() override;
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/*
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* Live Window code, only does anything if live window is activated.
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*/
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virtual std::string GetSmartDashboardType() const override;
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virtual void InitTable(std::shared_ptr<ITable> subtable) override;
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virtual void UpdateTable() override;
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virtual std::shared_ptr<ITable> GetTable() const override;
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/**
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* AnalogPotentiometers don't have to do anything special when entering the LiveWindow.
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*/
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virtual void StartLiveWindowMode() override {}
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/**
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* AnalogPotentiometers don't have to do anything special when exiting the LiveWindow.
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*/
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virtual void StopLiveWindowMode() override {}
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private:
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double m_scale, m_offset;
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AnalogInput* m_analog_input;
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std::shared_ptr<ITable> m_table;
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bool m_init_analog_input;
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/**
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* Common initialization code called by all constructors.
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*/
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void initPot(AnalogInput *input, double scale, double offset);
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};
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