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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
65 lines
2.9 KiB
C++
65 lines
2.9 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_TRIGGER_OUTPUT_H_
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#define ANALOG_TRIGGER_OUTPUT_H_
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#include "DigitalSource.h"
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class AnalogTrigger;
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/**
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* Class to represent a specific output from an analog trigger.
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* This class is used to get the current output value and also as a DigitalSource
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* to provide routing of an output to digital subsystems on the FPGA such as
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* Counter, Encoder, and Interrupt.
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*
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* The TriggerState output indicates the primary output value of the trigger. If the analog
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* signal is less than the lower limit, the output is false. If the analog value is greater
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* than the upper limit, then the output is true. If the analog value is in between, then
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* the trigger output state maintains its most recent value.
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*
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* The InWindow output indicates whether or not the analog signal is inside the range defined
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* by the limits.
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*
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* The RisingPulse and FallingPulse outputs detect an instantaneous transition from above the
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* upper limit to below the lower limit, and vise versa. These pulses represent a rollover
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* condition of a sensor and can be routed to an up / down couter or to interrupts. Because
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* the outputs generate a pulse, they cannot be read directly. To help ensure that a rollover
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* condition is not missed, there is an average rejection filter available that operates on the
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* upper 8 bits of a 12 bit number and selects the nearest outlyer of 3 samples. This will reject
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* a sample that is (due to averaging or sampling) errantly between the two limits. This filter
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* will fail if more than one sample in a row is errantly in between the two limits. You may see
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* this problem if attempting to use this feature with a mechanical rollover sensor, such as a
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* 360 degree no-stop potentiometer without signal conditioning, because the rollover transition
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* is not sharp / clean enough. Using the averaging engine may help with this, but rotational speeds of
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* the sensor will then be limited.
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*/
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class AnalogTriggerOutput: public DigitalSource
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{
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friend class AnalogTrigger;
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public:
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virtual ~AnalogTriggerOutput();
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bool Get();
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// DigitalSource interface
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virtual uint32_t GetChannelForRouting();
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virtual uint32_t GetModuleForRouting();
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virtual bool GetAnalogTriggerForRouting();
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virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param=NULL); ///< Asynchronus handler version.
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virtual void RequestInterrupts(); ///< Synchronus Wait version.
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protected:
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AnalogTriggerOutput(AnalogTrigger *trigger, AnalogTriggerType outputType);
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private:
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AnalogTrigger *m_trigger;
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AnalogTriggerType m_outputType;
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};
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#endif
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