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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
88 lines
2.7 KiB
C++
88 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef ANALOG_CHANNEL_H_
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#define ANALOG_CHANNEL_H_
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#include "HAL/HAL.h"
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#include "SensorBase.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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class AnalogModule;
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/**
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* Analog channel class.
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*
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* Each analog channel is read from hardware as a 12-bit number representing -10V to 10V.
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*
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* Connected to each analog channel is an averaging and oversampling engine. This engine accumulates
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* the specified ( by SetAverageBits() and SetOversampleBits() ) number of samples before returning a new
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* value. This is not a sliding window average. The only difference between the oversampled samples and
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* the averaged samples is that the oversampled samples are simply accumulated effectively increasing the
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* resolution, while the averaged samples are divided by the number of samples to retain the resolution,
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* but get more stable values.
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*/
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class AnalogChannel : public SensorBase, public PIDSource, public LiveWindowSendable
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{
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public:
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static const uint8_t kAccumulatorModuleNumber = 1;
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static const uint32_t kAccumulatorNumChannels = 2;
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static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels];
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AnalogChannel(uint8_t moduleNumber, uint32_t channel);
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explicit AnalogChannel(uint32_t channel);
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virtual ~AnalogChannel();
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AnalogModule *GetModule();
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int16_t GetValue();
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int32_t GetAverageValue();
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float GetVoltage();
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float GetAverageVoltage();
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uint8_t GetModuleNumber();
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uint32_t GetChannel();
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void SetAverageBits(uint32_t bits);
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uint32_t GetAverageBits();
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void SetOversampleBits(uint32_t bits);
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uint32_t GetOversampleBits();
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uint32_t GetLSBWeight();
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int32_t GetOffset();
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bool IsAccumulatorChannel();
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void InitAccumulator();
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void SetAccumulatorInitialValue(int64_t value);
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void ResetAccumulator();
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void SetAccumulatorCenter(int32_t center);
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void SetAccumulatorDeadband(int32_t deadband);
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int64_t GetAccumulatorValue();
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uint32_t GetAccumulatorCount();
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void GetAccumulatorOutput(int64_t *value, uint32_t *count);
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double PIDGet();
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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private:
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void InitChannel(uint8_t moduleNumber, uint32_t channel);
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uint32_t m_channel, m_module;
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void* m_port;
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int64_t m_accumulatorOffset;
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ITable *m_table;
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};
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#endif
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