mirror of
https://github.com/wpilibsuite/allwpilib
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1705b2d61c
This PR also uses the newly added -default-branch flag to generate the list of changed files with respect to the correct branch (2027).
69 lines
2.2 KiB
C++
69 lines
2.2 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "wpi/hardware/rotation/DutyCycle.hpp"
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#include <string>
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#include <utility>
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#include "wpi/hal/DutyCycle.h"
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#include "wpi/hal/HALBase.h"
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#include "wpi/hal/UsageReporting.h"
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#include "wpi/system/Errors.hpp"
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#include "wpi/util/NullDeleter.hpp"
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#include "wpi/util/SensorUtil.hpp"
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#include "wpi/util/StackTrace.hpp"
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#include "wpi/util/sendable/SendableBuilder.hpp"
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using namespace wpi;
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DutyCycle::DutyCycle(int channel) : m_channel{channel} {
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if (!SensorUtil::CheckDigitalChannel(channel)) {
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throw WPILIB_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
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}
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InitDutyCycle();
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}
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void DutyCycle::InitDutyCycle() {
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int32_t status = 0;
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std::string stackTrace = wpi::util::GetStackTrace(1);
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m_handle = HAL_InitializeDutyCycle(m_channel, stackTrace.c_str(), &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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HAL_ReportUsage("IO", m_channel, "DutyCycle");
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wpi::util::SendableRegistry::Add(this, "Duty Cycle", m_channel);
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}
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wpi::units::hertz_t DutyCycle::GetFrequency() const {
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int32_t status = 0;
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auto retVal = HAL_GetDutyCycleFrequency(m_handle, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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return wpi::units::hertz_t{retVal};
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}
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double DutyCycle::GetOutput() const {
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int32_t status = 0;
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auto retVal = HAL_GetDutyCycleOutput(m_handle, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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return retVal;
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}
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wpi::units::second_t DutyCycle::GetHighTime() const {
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int32_t status = 0;
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auto retVal = HAL_GetDutyCycleHighTime(m_handle, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
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return wpi::units::nanosecond_t{static_cast<double>(retVal)};
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}
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int DutyCycle::GetSourceChannel() const {
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return m_channel;
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}
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void DutyCycle::InitSendable(wpi::util::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Duty Cycle");
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builder.AddDoubleProperty(
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"Frequency", [this] { return this->GetFrequency().value(); }, nullptr);
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builder.AddDoubleProperty(
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"Output", [this] { return this->GetOutput(); }, nullptr);
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}
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