mirror of
https://github.com/wpilibsuite/allwpilib
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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
120 lines
4.2 KiB
C++
120 lines
4.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include <string>
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#include "AnalogTrigger.h"
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#include "CounterBase.h"
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#include "HAL/Counter.h"
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#include "HAL/Types.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "SensorBase.h"
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namespace frc {
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class DigitalGlitchFilter;
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/**
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* Class for counting the number of ticks on a digital input channel.
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* This is a general purpose class for counting repetitive events. It can return
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* the number of counts, the period of the most recent cycle, and detect when
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* the signal being counted has stopped by supplying a maximum cycle time.
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*
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* All counters will immediately start counting - Reset() them if you need them
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* to be zeroed before use.
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*/
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class Counter : public SensorBase,
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public CounterBase,
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public LiveWindowSendable {
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public:
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enum Mode {
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kTwoPulse = 0,
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kSemiperiod = 1,
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kPulseLength = 2,
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kExternalDirection = 3
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};
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explicit Counter(Mode mode = kTwoPulse);
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explicit Counter(int channel);
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explicit Counter(DigitalSource* source);
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explicit Counter(std::shared_ptr<DigitalSource> source);
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WPI_DEPRECATED("Use pass-by-reference instead.")
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explicit Counter(AnalogTrigger* trigger);
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explicit Counter(const AnalogTrigger& trigger);
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Counter(EncodingType encodingType, DigitalSource* upSource,
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DigitalSource* downSource, bool inverted);
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Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
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std::shared_ptr<DigitalSource> downSource, bool inverted);
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virtual ~Counter();
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void SetUpSource(int channel);
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void SetUpSource(AnalogTrigger* analogTrigger, AnalogTriggerType triggerType);
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void SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
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AnalogTriggerType triggerType);
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void SetUpSource(DigitalSource* source);
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void SetUpSource(std::shared_ptr<DigitalSource> source);
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void SetUpSource(DigitalSource& source);
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void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
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void ClearUpSource();
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void SetDownSource(int channel);
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void SetDownSource(AnalogTrigger* analogTrigger,
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AnalogTriggerType triggerType);
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void SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
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AnalogTriggerType triggerType);
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void SetDownSource(DigitalSource* source);
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void SetDownSource(std::shared_ptr<DigitalSource> source);
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void SetDownSource(DigitalSource& source);
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void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
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void ClearDownSource();
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void SetUpDownCounterMode();
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void SetExternalDirectionMode();
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void SetSemiPeriodMode(bool highSemiPeriod);
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void SetPulseLengthMode(double threshold);
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void SetReverseDirection(bool reverseDirection);
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// CounterBase interface
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int Get() const override;
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void Reset() override;
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double GetPeriod() const override;
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void SetMaxPeriod(double maxPeriod) override;
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void SetUpdateWhenEmpty(bool enabled);
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bool GetStopped() const override;
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bool GetDirection() const override;
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage() const;
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int GetFPGAIndex() const { return m_index; }
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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protected:
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// Makes the counter count up.
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std::shared_ptr<DigitalSource> m_upSource;
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// Makes the counter count down.
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std::shared_ptr<DigitalSource> m_downSource;
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// The FPGA counter object
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HAL_CounterHandle m_counter = HAL_kInvalidHandle;
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private:
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int m_index = 0; ///< The index of this counter.
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std::shared_ptr<ITable> m_table;
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friend class DigitalGlitchFilter;
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};
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} // namespace frc
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