mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-25 01:41:43 +00:00
8ae64a12ea
Pneumatics still have CAN modules. The refactored code is now eight plugins for sensors and actuators. There is some code reuse that should be refactored out, but that level of abstraction will wait until we figure out how these plugins are integrating with gazebo proper. Change-Id: I357e695ef05af6dda83a39ba60380686bd57d11a Closes: artf2610, artf2623
370 lines
12 KiB
C++
370 lines
12 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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#include "Encoder.h"
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#include "Resource.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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/**
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* Common initialization code for Encoders.
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* This code allocates resources for Encoders and is common to all constructors.
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* @param reverseDirection If true, counts down instead of up (this is all relative)
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
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* selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
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* spec'd value since all rising and falling edges are counted. If 1X or 2X are selected then
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* a counter object will be used and the returned value will either exactly match the spec'd count
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* or be double (2x) the spec'd count.
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*/
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void Encoder::InitEncoder(int channelA, int channelB, bool reverseDirection, EncodingType encodingType)
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{
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m_table = NULL;
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this->channelA = channelA;
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this->channelB = channelB;
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m_encodingType = encodingType;
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int32_t index = 0;
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m_distancePerPulse = 1.0;
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m_pidSource = kDistance;
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LiveWindow::GetInstance()->AddSensor("Encoder", channelA, this);
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if (channelB < channelA) { // Swap ports
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int channel = channelB;
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channelB = channelA;
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channelA = channel;
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m_reverseDirection = !reverseDirection;
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} else {
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m_reverseDirection = reverseDirection;
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}
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char buffer[50];
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int n = sprintf(buffer, "dio/%d/%d", channelA, channelB);
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impl = new SimEncoder(buffer);
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}
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/**
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* Encoder constructor.
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* Construct a Encoder given a and b channels.
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* @param aChannel The a channel digital input channel.
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* @param bChannel The b channel digital input channel.
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* @param reverseDirection represents the orientation of the encoder and inverts the output values
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* if necessary so forward represents positive values.
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
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* selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
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* spec'd value since all rising and falling edges are counted. If 1X or 2X are selected then
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* a counter object will be used and the returned value will either exactly match the spec'd count
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* or be double (2x) the spec'd count.
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*/
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Encoder::Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection, EncodingType encodingType)
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{
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InitEncoder(aChannel, bChannel, reverseDirection, encodingType);
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}
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/**
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* Encoder constructor.
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* Construct a Encoder given a and b channels as digital inputs. This is used in the case
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* where the digital inputs are shared. The Encoder class will not allocate the digital inputs
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* and assume that they already are counted.
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* @param aSource The source that should be used for the a channel.
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* @param bSource the source that should be used for the b channel.
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* @param reverseDirection represents the orientation of the encoder and inverts the output values
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* if necessary so forward represents positive values.
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
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* selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
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* spec'd value since all rising and falling edges are counted. If 1X or 2X are selected then
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* a counter object will be used and the returned value will either exactly match the spec'd count
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* or be double (2x) the spec'd count.
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*/
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/* TODO: [Not Supported] Encoder::Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDirection, EncodingType encodingType) :
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m_encoder(NULL),
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m_counter(NULL)
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{
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m_aSource = aSource;
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m_bSource = bSource;
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m_allocatedASource = false;
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m_allocatedBSource = false;
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if (m_aSource == NULL || m_bSource == NULL)
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wpi_setWPIError(NullParameter);
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else
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InitEncoder(reverseDirection, encodingType);
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}*/
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/**
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* Encoder constructor.
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* Construct a Encoder given a and b channels as digital inputs. This is used in the case
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* where the digital inputs are shared. The Encoder class will not allocate the digital inputs
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* and assume that they already are counted.
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* @param aSource The source that should be used for the a channel.
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* @param bSource the source that should be used for the b channel.
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* @param reverseDirection represents the orientation of the encoder and inverts the output values
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* if necessary so forward represents positive values.
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X decoding. If 4X is
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* selected, then an encoder FPGA object is used and the returned counts will be 4x the encoder
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* spec'd value since all rising and falling edges are counted. If 1X or 2X are selected then
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* a counter object will be used and the returned value will either exactly match the spec'd count
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* or be double (2x) the spec'd count.
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*/
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/*// TODO: [Not Supported] Encoder::Encoder(DigitalSource &aSource, DigitalSource &bSource, bool reverseDirection, EncodingType encodingType) :
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m_encoder(NULL),
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m_counter(NULL)
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{
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m_aSource = &aSource;
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m_bSource = &bSource;
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m_allocatedASource = false;
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m_allocatedBSource = false;
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InitEncoder(reverseDirection, encodingType);
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}*/
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/**
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* Free the resources for an Encoder.
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* Frees the FPGA resources associated with an Encoder.
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*/
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Encoder::~Encoder()
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{
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}
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/**
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* Start the Encoder.
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* Starts counting pulses on the Encoder device.
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*/
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void Encoder::Start()
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{
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impl->Start();
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}
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/**
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* Stops counting pulses on the Encoder device. The value is not changed.
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*/
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void Encoder::Stop()
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{
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impl->Stop();
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}
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/**
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* Reset the Encoder distance to zero.
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* Resets the current count to zero on the encoder.
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*/
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void Encoder::Reset()
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{
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impl->Reset();
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}
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/**
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* Determine if the encoder is stopped.
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* Using the MaxPeriod value, a boolean is returned that is true if the encoder is considered
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* stopped and false if it is still moving. A stopped encoder is one where the most recent pulse
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* width exceeds the MaxPeriod.
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* @return True if the encoder is considered stopped.
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*/
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bool Encoder::GetStopped()
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{
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throw "Simulation doesn't currently support this method.";
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}
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/**
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* The last direction the encoder value changed.
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* @return The last direction the encoder value changed.
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*/
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bool Encoder::GetDirection()
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{
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throw "Simulation doesn't currently support this method.";
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}
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/**
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* The scale needed to convert a raw counter value into a number of encoder pulses.
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*/
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double Encoder::DecodingScaleFactor()
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{
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switch (m_encodingType)
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{
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case k1X:
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return 1.0;
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case k2X:
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return 0.5;
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case k4X:
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return 0.25;
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default:
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return 0.0;
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}
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}
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/**
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* Gets the raw value from the encoder.
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* The raw value is the actual count unscaled by the 1x, 2x, or 4x scale
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* factor.
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* @return Current raw count from the encoder
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*/
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int32_t Encoder::GetRaw()
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{
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throw "Simulation doesn't currently support this method.";
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}
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/**
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* Gets the current count.
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* Returns the current count on the Encoder.
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* This method compensates for the decoding type.
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*
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* @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
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*/
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int32_t Encoder::Get()
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{
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throw "Simulation doesn't currently support this method.";
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}
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/**
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* Returns the period of the most recent pulse.
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* Returns the period of the most recent Encoder pulse in seconds.
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* This method compenstates for the decoding type.
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*
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* @deprecated Use GetRate() in favor of this method. This returns unscaled periods and GetRate() scales using value from SetDistancePerPulse().
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*
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* @return Period in seconds of the most recent pulse.
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*/
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double Encoder::GetPeriod()
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{
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throw "Simulation doesn't currently support this method.";
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}
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/**
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* Sets the maximum period for stopped detection.
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* Sets the value that represents the maximum period of the Encoder before it will assume
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* that the attached device is stopped. This timeout allows users to determine if the wheels or
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* other shaft has stopped rotating.
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* This method compensates for the decoding type.
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*
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* @deprecated Use SetMinRate() in favor of this method. This takes unscaled periods and SetMinRate() scales using value from SetDistancePerPulse().
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*
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* @param maxPeriod The maximum time between rising and falling edges before the FPGA will
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* report the device stopped. This is expressed in seconds.
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*/
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void Encoder::SetMaxPeriod(double maxPeriod)
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{
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throw "Simulation doesn't currently support this method.";
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}
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/**
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* Get the distance the robot has driven since the last reset.
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*
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* @return The distance driven since the last reset as scaled by the value from SetDistancePerPulse().
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*/
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double Encoder::GetDistance()
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{
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return m_distancePerPulse * impl->GetPosition();
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}
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/**
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* Get the current rate of the encoder.
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* Units are distance per second as scaled by the value from SetDistancePerPulse().
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*
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* @return The current rate of the encoder.
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*/
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double Encoder::GetRate()
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{
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return m_distancePerPulse * impl->GetVelocity();
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}
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/**
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* Set the minimum rate of the device before the hardware reports it stopped.
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*
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* @param minRate The minimum rate. The units are in distance per second as scaled by the value from SetDistancePerPulse().
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*/
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void Encoder::SetMinRate(double minRate)
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{
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throw "Simulation doesn't currently support this method.";
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}
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/**
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* Set the distance per pulse for this encoder.
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* This sets the multiplier used to determine the distance driven based on the count value
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* from the encoder.
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* Do not include the decoding type in this scale. The library already compensates for the decoding type.
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* Set this value based on the encoder's rated Pulses per Revolution and
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* factor in gearing reductions following the encoder shaft.
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* This distance can be in any units you like, linear or angular.
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*
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* @param distancePerPulse The scale factor that will be used to convert pulses to useful units.
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*/
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void Encoder::SetDistancePerPulse(double distancePerPulse)
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{
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if (m_reverseDirection) {
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m_distancePerPulse = -distancePerPulse;
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} else {
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m_distancePerPulse = distancePerPulse;
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}
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}
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/**
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* Set the direction sensing for this encoder.
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* This sets the direction sensing on the encoder so that it could count in the correct
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* software direction regardless of the mounting.
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* @param reverseDirection true if the encoder direction should be reversed
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*/
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void Encoder::SetReverseDirection(bool reverseDirection)
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{
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throw "Simulation doesn't currently support this method.";
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}
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/**
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* Set which parameter of the encoder you are using as a process control variable.
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*
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* @param pidSource An enum to select the parameter.
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*/
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void Encoder::SetPIDSourceParameter(PIDSourceParameter pidSource)
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{
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m_pidSource = pidSource;
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}
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/**
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* Implement the PIDSource interface.
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*
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* @return The current value of the selected source parameter.
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*/
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double Encoder::PIDGet()
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{
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switch (m_pidSource)
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{
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case kDistance:
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return GetDistance();
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case kRate:
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return GetRate();
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default:
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return 0.0;
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}
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}
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void Encoder::UpdateTable() {
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if (m_table != NULL) {
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m_table->PutNumber("Speed", GetRate());
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m_table->PutNumber("Distance", GetDistance());
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m_table->PutNumber("Distance per Tick", m_reverseDirection ? -m_distancePerPulse : m_distancePerPulse);
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}
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}
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void Encoder::StartLiveWindowMode() {
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}
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void Encoder::StopLiveWindowMode() {
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}
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std::string Encoder::GetSmartDashboardType() {
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if (m_encodingType == k4X)
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return "Quadrature Encoder";
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else
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return "Encoder";
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}
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void Encoder::InitTable(ITable *subTable) {
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m_table = subTable;
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UpdateTable();
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}
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ITable * Encoder::GetTable() {
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return m_table;
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}
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