mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-23 01:21:42 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
77 lines
2.6 KiB
C++
77 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2016-2017 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
|
|
#include "AnalogInput.h"
|
|
#include "SensorBase.h"
|
|
#include "interfaces/Potentiometer.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Class for reading analog potentiometers. Analog potentiometers read in an
|
|
* analog voltage that corresponds to a position. The position is in whichever
|
|
* units you choose, by way of the scaling and offset constants passed to the
|
|
* constructor.
|
|
*/
|
|
class AnalogPotentiometer : public SensorBase, public Potentiometer {
|
|
public:
|
|
/**
|
|
* AnalogPotentiometer constructor.
|
|
*
|
|
* Use the fullRange and offset values so that the output produces meaningful
|
|
* values. I.E: you have a 270 degree potentiometer and you want the output to
|
|
* be degrees with the halfway point as 0 degrees. The fullRange value is
|
|
* 270.0 degrees and the offset is -135.0 since the halfway point after
|
|
* scaling is 135 degrees.
|
|
*
|
|
* This will calculate the result from the fullRange times the fraction of the
|
|
* supply voltage, plus the offset.
|
|
*
|
|
* @param channel The analog channel this potentiometer is plugged into.
|
|
* @param fullRange The scaling to multiply the voltage by to get a meaningful
|
|
* unit.
|
|
* @param offset The offset to add to the scaled value for controlling the
|
|
* zero value.
|
|
*/
|
|
explicit AnalogPotentiometer(int channel, double fullRange = 1.0,
|
|
double offset = 0.0);
|
|
|
|
explicit AnalogPotentiometer(AnalogInput* input, double fullRange = 1.0,
|
|
double offset = 0.0);
|
|
|
|
explicit AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
|
|
double fullRange = 1.0, double offset = 0.0);
|
|
|
|
~AnalogPotentiometer() override = default;
|
|
|
|
/**
|
|
* Get the current reading of the potentiomer.
|
|
*
|
|
* @return The current position of the potentiometer.
|
|
*/
|
|
double Get() const override;
|
|
|
|
/**
|
|
* Implement the PIDSource interface.
|
|
*
|
|
* @return The current reading.
|
|
*/
|
|
double PIDGet() override;
|
|
|
|
void InitSendable(SendableBuilder& builder) override;
|
|
|
|
private:
|
|
std::shared_ptr<AnalogInput> m_analog_input;
|
|
double m_fullRange, m_offset;
|
|
};
|
|
|
|
} // namespace frc
|