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https://github.com/wpilibsuite/allwpilib
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80 lines
2.1 KiB
C++
80 lines
2.1 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 <memory>
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#include <hal/Types.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "EdgeConfiguration.h"
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namespace frc {
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class DigitalSource;
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/** Counter using external direction. */
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class ExternalDirectionCounter
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: public wpi::Sendable,
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public wpi::SendableHelper<ExternalDirectionCounter> {
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public:
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/**
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* Constructs a new ExternalDirectionCounter.
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*
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* @param countSource The source for counting.
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* @param directionSource The source for selecting count direction.
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*/
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ExternalDirectionCounter(DigitalSource& countSource,
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DigitalSource& directionSource);
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/**
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* Constructs a new ExternalDirectionCounter.
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*
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* @param countSource The source for counting.
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* @param directionSource The source for selecting count direction.
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*/
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ExternalDirectionCounter(std::shared_ptr<DigitalSource> countSource,
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std::shared_ptr<DigitalSource> directionSource);
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~ExternalDirectionCounter() override;
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ExternalDirectionCounter(ExternalDirectionCounter&&) = default;
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ExternalDirectionCounter& operator=(ExternalDirectionCounter&&) = default;
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/**
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* Gets the current count.
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*
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* @return The current count.
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*/
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int GetCount() const;
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/**
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* Sets to revert the counter direction.
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*
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* @param reverseDirection True to reverse counting direction.
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*/
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void SetReverseDirection(bool reverseDirection);
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/** Resets the current count. */
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void Reset();
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/**
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* Sets the edge configuration for counting.
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*
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* @param configuration The counting edge configuration.
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*/
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void SetEdgeConfiguration(EdgeConfiguration configuration);
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protected:
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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std::shared_ptr<DigitalSource> m_countSource;
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std::shared_ptr<DigitalSource> m_directionSource;
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hal::Handle<HAL_CounterHandle> m_handle;
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int32_t m_index = 0;
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};
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} // namespace frc
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