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https://github.com/wpilibsuite/allwpilib
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b417d961ec
The non-NT portion has been moved to wpiutil. The NT portion has been moved to ntcore (as NTSendable). SendableBuilder similarly split and moved. SendableRegistry moved to wpiutil. In C++, SendableHelper also moved to wpiutil. This enables use of Sendable from wpimath and also enables moving several classes from wpilib to wpimath.
107 lines
3.8 KiB
C++
107 lines
3.8 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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#pragma once
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/DigitalSource.h"
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namespace frc {
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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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*
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* This class is used to get the current output value and also as a
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* DigitalSource to provide routing of an output to digital subsystems on the
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* FPGA such as Counter, Encoder, and Interrupt.
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*
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* The TriggerState output indicates the primary output value of the trigger.
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* If the analog signal is less than the lower limit, the output is false. If
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* the analog value is greater than the upper limit, then the output is true.
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* If the analog value is in between, then the trigger output state maintains
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* 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
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* range defined by the limits.
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*
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* The RisingPulse and FallingPulse outputs detect an instantaneous transition
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* from above the upper limit to below the lower limit, and vise versa. These
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* pulses represent a rollover condition of a sensor and can be routed to an up
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* / down counter or to interrupts. Because the outputs generate a pulse, they
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* cannot be read directly. To help ensure that a rollover condition is not
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* 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.
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* This will reject a sample that is (due to averaging or sampling) errantly
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* between the two limits. This filter will fail if more than one sample in a
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* row is errantly in between the two limits. You may see this problem if
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* 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
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* rollover transition is not sharp / clean enough. Using the averaging engine
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* may help with this, but rotational speeds of the sensor will then be limited.
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*/
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class AnalogTriggerOutput : public DigitalSource,
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public wpi::Sendable,
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public wpi::SendableHelper<AnalogTriggerOutput> {
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friend class AnalogTrigger;
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public:
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/**
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* Get the state of the analog trigger output.
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*
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* @return The state of the analog trigger output.
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*/
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bool Get() const;
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// DigitalSource interface
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/**
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* @return The HAL Handle to the specified source.
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*/
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HAL_Handle GetPortHandleForRouting() const override;
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/**
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* @return The type of analog trigger output to be used.
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*/
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AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
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/**
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* Is source an AnalogTrigger
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*/
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bool IsAnalogTrigger() const override;
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/**
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* @return The channel of the source.
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*/
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int GetChannel() const override;
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void InitSendable(wpi::SendableBuilder& builder) override;
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protected:
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/**
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* Create an object that represents one of the four outputs from an analog
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* trigger.
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*
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* Because this class derives from DigitalSource, it can be passed into
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* routing functions for Counter, Encoder, etc.
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*
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* @param trigger A pointer to the trigger for which this is an output.
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* @param outputType An enum that specifies the output on the trigger to
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* represent.
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*/
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AnalogTriggerOutput(const AnalogTrigger& trigger,
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AnalogTriggerType outputType);
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private:
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// Uses pointer rather than smart pointer because a user can not construct
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// an AnalogTriggerOutput themselves and because the AnalogTriggerOutput
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// should always be in scope at the same time as an AnalogTrigger.
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const AnalogTrigger* m_trigger;
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AnalogTriggerType m_outputType;
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};
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} // namespace frc
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