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https://github.com/wpilibsuite/allwpilib
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120 lines
4.1 KiB
C++
120 lines
4.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 FIRST. 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 <HAL/Counter.h>
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#include <HAL/Types.h>
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#include "AnalogTrigger.h"
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#include "CounterBase.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "SensorBase.h"
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#include "networktables/NetworkTableEntry.h"
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namespace frc {
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class DigitalGlitchFilter;
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/**
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* Class for counting the number of ticks on a digital input channel.
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*
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* This is a general purpose class for counting repetitive events. It can return
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* the number of counts, the period of the most recent cycle, and detect when
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* the signal being counted has stopped by supplying a maximum cycle time.
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*
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* All counters 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 Counter : public SensorBase,
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public CounterBase,
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public LiveWindowSendable {
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public:
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enum Mode {
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kTwoPulse = 0,
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kSemiperiod = 1,
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kPulseLength = 2,
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kExternalDirection = 3
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};
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explicit Counter(Mode mode = kTwoPulse);
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explicit Counter(int channel);
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explicit Counter(DigitalSource* source);
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explicit Counter(std::shared_ptr<DigitalSource> source);
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explicit Counter(const AnalogTrigger& trigger);
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Counter(EncodingType encodingType, DigitalSource* upSource,
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DigitalSource* downSource, bool inverted);
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Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
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std::shared_ptr<DigitalSource> downSource, bool inverted);
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virtual ~Counter();
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void SetUpSource(int channel);
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void SetUpSource(AnalogTrigger* analogTrigger, AnalogTriggerType triggerType);
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void SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
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AnalogTriggerType triggerType);
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void SetUpSource(DigitalSource* source);
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void SetUpSource(std::shared_ptr<DigitalSource> source);
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void SetUpSource(DigitalSource& source);
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void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
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void ClearUpSource();
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void SetDownSource(int channel);
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void SetDownSource(AnalogTrigger* analogTrigger,
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AnalogTriggerType triggerType);
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void SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
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AnalogTriggerType triggerType);
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void SetDownSource(DigitalSource* source);
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void SetDownSource(std::shared_ptr<DigitalSource> source);
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void SetDownSource(DigitalSource& source);
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void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
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void ClearDownSource();
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void SetUpDownCounterMode();
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void SetExternalDirectionMode();
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void SetSemiPeriodMode(bool highSemiPeriod);
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void SetPulseLengthMode(double threshold);
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void SetReverseDirection(bool reverseDirection);
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// CounterBase interface
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int Get() const override;
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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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void SetUpdateWhenEmpty(bool enabled);
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bool GetStopped() const override;
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bool GetDirection() const override;
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage() const;
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int GetFPGAIndex() const { return m_index; }
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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<nt::NetworkTable> subTable) override;
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protected:
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// Makes the counter count up.
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std::shared_ptr<DigitalSource> m_upSource;
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// Makes the counter count down.
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std::shared_ptr<DigitalSource> m_downSource;
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// The FPGA counter object
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HAL_CounterHandle m_counter = HAL_kInvalidHandle;
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private:
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int m_index = 0; ///< The index of this counter.
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nt::NetworkTableEntry m_valueEntry;
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friend class DigitalGlitchFilter;
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};
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} // namespace frc
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