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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
84 lines
3.2 KiB
C++
84 lines
3.2 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 QUAD_ENCODER_H_
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#define QUAD_ENCODER_H_
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#include "HAL/HAL.h"
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#include "CounterBase.h"
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#include "SensorBase.h"
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#include "Counter.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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class DigitalSource;
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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 direction. The output of
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* the QuadEncoder class is an integer that can count either up or down, and can go negative for
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* reverse direction counting. When creating QuadEncoders, a direction is supplied that changes the
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* sense of the output to make code more readable if the encoder is mounted such that forward movement
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* generates negative values. Quadrature encoders have two digital outputs, an A Channel and a B Channel
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* that are out of phase with each other to allow the FPGA to do direction sensing.
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*/
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class Encoder: public SensorBase, public CounterBase, public PIDSource, public LiveWindowSendable
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{
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public:
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Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection=false, EncodingType encodingType = k4X);
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Encoder(uint8_t aModuleNumber, uint32_t aChannel, uint8_t bModuleNumber, uint32_t _bChannel, bool reverseDirection=false, EncodingType encodingType = k4X);
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Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
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Encoder(DigitalSource &aSource, DigitalSource &bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
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virtual ~Encoder();
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// CounterBase interface
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void Start();
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int32_t Get();
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int32_t GetRaw();
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void Reset();
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void Stop();
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double GetPeriod();
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void SetMaxPeriod(double maxPeriod);
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bool GetStopped();
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bool GetDirection();
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double GetDistance();
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double GetRate();
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void SetMinRate(double minRate);
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void SetDistancePerPulse(double distancePerPulse);
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void SetReverseDirection(bool reverseDirection);
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage();
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void SetPIDSourceParameter(PIDSourceParameter pidSource);
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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 InitEncoder(bool _reverseDirection, EncodingType encodingType);
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double DecodingScaleFactor();
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DigitalSource *m_aSource; // the A phase of the quad encoder
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DigitalSource *m_bSource; // the B phase of the quad encoder
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bool m_allocatedASource; // was the A source allocated locally?
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bool m_allocatedBSource; // was the B source allocated locally?
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void* m_encoder;
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double m_distancePerPulse; // distance of travel for each encoder tick
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Counter *m_counter; // Counter object for 1x and 2x encoding
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EncodingType m_encodingType; // Encoding type
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PIDSourceParameter m_pidSource;// Encoder parameter that sources a PID controller
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ITable *m_table;
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};
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#endif
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