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1fc098e696
This is enabled by the C++20 __VA_OPT__ feature.
Uses of "{}" format string were updated.
Some warning suppressions were required for older clang versions.
Also improve codegen of wpi::Logger::Log(), frc::ReportError(), and frc::MakeError();
these generate better and less redundant code if they use fmt::string_view for the
format string instead of templating on it.
123 lines
3.9 KiB
C++
123 lines
3.9 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 "frc/counter/Tachometer.h"
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#include <frc/DigitalSource.h>
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#include <hal/Counter.h>
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#include <hal/FRCUsageReporting.h>
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#include <wpi/NullDeleter.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include "frc/Errors.h"
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using namespace frc;
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Tachometer::Tachometer(DigitalSource& source)
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: Tachometer({&source, wpi::NullDeleter<DigitalSource>()}) {}
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Tachometer::Tachometer(std::shared_ptr<DigitalSource> source) {
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if (source == nullptr) {
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throw FRC_MakeError(err::NullParameter, "source");
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}
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m_source = source;
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int32_t status = 0;
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HAL_SetCounterUpSource(m_handle, m_source->GetPortHandleForRouting(),
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static_cast<HAL_AnalogTriggerType>(
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m_source->GetAnalogTriggerTypeForRouting()),
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&status);
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FRC_CheckErrorStatus(status, "{}", m_index);
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HAL_SetCounterUpSourceEdge(m_handle, true, false, &status);
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FRC_CheckErrorStatus(status, "{}", m_index);
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HAL_Report(HALUsageReporting::kResourceType_Counter, m_index + 1);
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wpi::SendableRegistry::AddLW(this, "Tachometer", m_index);
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}
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Tachometer::~Tachometer() {
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int32_t status = 0;
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HAL_FreeCounter(m_handle, &status);
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}
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units::hertz_t Tachometer::GetFrequency() const {
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auto period = GetPeriod();
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if (period.to<double>() == 0) {
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return units::hertz_t{0.0};
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}
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return 1 / period;
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}
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units::second_t Tachometer::GetPeriod() const {
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int32_t status = 0;
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double period = HAL_GetCounterPeriod(m_handle, &status);
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FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
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return units::second_t{period};
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}
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int Tachometer::GetEdgesPerRevolution() const {
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return m_edgesPerRevolution;
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}
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void Tachometer::SetEdgesPerRevolution(int edges) {
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m_edgesPerRevolution = edges;
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}
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units::turns_per_second_t Tachometer::GetRevolutionsPerSecond() const {
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auto period = GetPeriod();
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if (period.to<double>() == 0) {
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return units::turns_per_second_t{0.0};
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}
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int edgesPerRevolution = GetEdgesPerRevolution();
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if (edgesPerRevolution == 0) {
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return units::turns_per_second_t{0.0};
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}
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auto rotationHz = ((1.0 / edgesPerRevolution) / period);
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return units::turns_per_second_t{rotationHz.to<double>()};
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}
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units::revolutions_per_minute_t Tachometer::GetRevolutionsPerMinute() const {
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return units::revolutions_per_minute_t{GetRevolutionsPerSecond()};
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}
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bool Tachometer::GetStopped() const {
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int32_t status = 0;
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bool stopped = HAL_GetCounterStopped(m_handle, &status);
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FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
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return stopped;
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}
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int Tachometer::GetSamplesToAverage() const {
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int32_t status = 0;
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int32_t samplesToAverage = HAL_GetCounterSamplesToAverage(m_handle, &status);
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FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
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return samplesToAverage;
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}
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void Tachometer::SetSamplesToAverage(int samples) {
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int32_t status = 0;
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HAL_SetCounterSamplesToAverage(m_handle, samples, &status);
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FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
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}
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void Tachometer::SetMaxPeriod(units::second_t maxPeriod) {
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int32_t status = 0;
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HAL_SetCounterMaxPeriod(m_handle, maxPeriod.to<double>(), &status);
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FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
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}
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void Tachometer::SetUpdateWhenEmpty(bool updateWhenEmpty) {
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int32_t status = 0;
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HAL_SetCounterUpdateWhenEmpty(m_handle, updateWhenEmpty, &status);
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FRC_CheckErrorStatus(status, "Channel {}", m_source->GetChannel());
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}
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void Tachometer::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Tachometer");
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builder.AddDoubleProperty(
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"RPS", [&] { return GetRevolutionsPerSecond().to<double>(); }, nullptr);
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builder.AddDoubleProperty(
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"RPM", [&] { return GetRevolutionsPerMinute().to<double>(); }, nullptr);
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}
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