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https://github.com/wpilibsuite/allwpilib
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108 lines
4.0 KiB
C++
108 lines
4.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
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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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include <string>
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#include "Counter.h"
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#include "CounterBase.h"
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#include "HAL/Encoder.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "PIDSource.h"
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#include "SensorBase.h"
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class DigitalSource;
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class DigitalGlitchFilter;
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/**
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* Class to read quad encoders.
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* Quadrature encoders are devices that count shaft rotation and can sense
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* direction. The output of the QuadEncoder class is an integer that can count
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* either up or down, and can go negative for reverse direction counting. When
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* creating QuadEncoders, a direction is supplied that changes the sense of the
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* output to make code more readable if the encoder is mounted such that forward
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* movement generates negative values. Quadrature encoders have two digital
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* outputs, an A Channel and a B Channel that are out of phase with each other
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* to allow the FPGA to do direction sensing.
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*
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* All encoders will immediately start counting - Reset() them if you need them
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* to be zeroed before use.
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*/
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class Encoder : public SensorBase,
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public CounterBase,
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public PIDSource,
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public LiveWindowSendable {
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public:
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enum IndexingType {
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kResetWhileHigh,
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kResetWhileLow,
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kResetOnFallingEdge,
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kResetOnRisingEdge
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};
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Encoder(int aChannel, int bChannel, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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Encoder(std::shared_ptr<DigitalSource> aSource,
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std::shared_ptr<DigitalSource> bSource, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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Encoder(DigitalSource* aSource, DigitalSource* bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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Encoder(DigitalSource& aSource, DigitalSource& bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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virtual ~Encoder();
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// CounterBase interface
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int Get() const override;
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int GetRaw() const;
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int GetEncodingScale() const;
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void Reset() override;
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double GetPeriod() const override;
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void SetMaxPeriod(double maxPeriod) override;
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bool GetStopped() const override;
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bool GetDirection() const override;
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float GetDistance() const;
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float GetRate() const;
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void SetMinRate(float minRate);
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void SetDistancePerPulse(float distancePerPulse);
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void SetReverseDirection(bool reverseDirection);
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage() const;
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double PIDGet() override;
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void SetIndexSource(int channel, IndexingType type = kResetOnRisingEdge);
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DEPRECATED("Use pass-by-reference instead.")
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void SetIndexSource(DigitalSource* source,
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IndexingType type = kResetOnRisingEdge);
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void SetIndexSource(const DigitalSource& source,
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IndexingType type = kResetOnRisingEdge);
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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int GetFPGAIndex() const;
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private:
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void InitEncoder(bool reverseDirection, EncodingType encodingType);
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float DecodingScaleFactor() const;
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std::shared_ptr<DigitalSource> m_aSource; // the A phase of the quad encoder
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std::shared_ptr<DigitalSource> m_bSource; // the B phase of the quad encoder
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std::unique_ptr<DigitalSource> m_indexSource = nullptr;
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HAL_EncoderHandle m_encoder = HAL_kInvalidHandle;
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std::shared_ptr<ITable> m_table;
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friend class DigitalGlitchFilter;
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};
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