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.
638 lines
20 KiB
C++
638 lines
20 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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#include "Counter.h"
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#include "AnalogTrigger.h"
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#include "DigitalInput.h"
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#include "HAL/HAL.h"
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#include "WPIErrors.h"
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using namespace frc;
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/**
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* Create an instance of a counter where no sources are selected.
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*
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* They all must be selected by calling functions to specify the upsource and
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* the downsource independently.
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*
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* This creates a ChipObject counter and initializes status variables
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* appropriately.
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*
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* The counter will start counting immediately.
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*
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* @param mode The counter mode
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*/
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Counter::Counter(Mode mode) {
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int32_t status = 0;
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m_counter = HAL_InitializeCounter((HAL_Counter_Mode)mode, &m_index, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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SetMaxPeriod(.5);
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HAL_Report(HALUsageReporting::kResourceType_Counter, m_index, mode);
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}
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/**
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* Create an instance of a counter from a Digital Source (such as a Digital
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* Input).
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*
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* This is used if an existing digital input is to be shared by multiple other
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* objects such as encoders or if the Digital Source is not a Digital Input
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* channel (such as an Analog Trigger).
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*
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* The counter will start counting immediately.
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* @param source A pointer to the existing DigitalSource object. It will be set
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* as the Up Source.
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*/
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Counter::Counter(DigitalSource* source) : Counter(kTwoPulse) {
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SetUpSource(source);
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ClearDownSource();
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}
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/**
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* Create an instance of a counter from a Digital Source (such as a Digital
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* Input).
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*
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* This is used if an existing digital input is to be shared by multiple other
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* objects such as encoders or if the Digital Source is not a Digital Input
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* channel (such as an Analog Trigger).
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*
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* The counter will start counting immediately.
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*
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* @param source A pointer to the existing DigitalSource object. It will be
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* set as the Up Source.
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*/
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Counter::Counter(std::shared_ptr<DigitalSource> source) : Counter(kTwoPulse) {
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SetUpSource(source);
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ClearDownSource();
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}
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/**
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* Create an instance of a Counter object.
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*
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* Create an up-Counter instance given a channel.
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*
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* The counter will start counting immediately.
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*
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* @param channel The DIO channel to use as the up source. 0-9 are on-board,
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* 10-25 are on the MXP
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*/
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Counter::Counter(int channel) : Counter(kTwoPulse) {
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SetUpSource(channel);
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ClearDownSource();
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}
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/**
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* Create an instance of a Counter object.
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*
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* Create an instance of a simple up-Counter given an analog trigger.
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* Use the trigger state output from the analog trigger.
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*
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* The counter will start counting immediately.
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*
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* @param trigger The pointer to the existing AnalogTrigger object.
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*/
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WPI_DEPRECATED("Use pass-by-reference instead.")
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Counter::Counter(AnalogTrigger* trigger) : Counter(kTwoPulse) {
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SetUpSource(trigger->CreateOutput(AnalogTriggerType::kState));
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ClearDownSource();
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}
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/**
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* Create an instance of a Counter object.
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*
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* Create an instance of a simple up-Counter given an analog trigger.
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* Use the trigger state output from the analog trigger.
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*
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* The counter will start counting immediately.
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*
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* @param trigger The reference to the existing AnalogTrigger object.
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*/
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Counter::Counter(const AnalogTrigger& trigger) : Counter(kTwoPulse) {
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SetUpSource(trigger.CreateOutput(AnalogTriggerType::kState));
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ClearDownSource();
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}
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/**
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* Create an instance of a Counter object.
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*
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* Creates a full up-down counter given two Digital Sources.
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*
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* @param encodingType The quadrature decoding mode (1x or 2x)
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* @param upSource The pointer to the DigitalSource to set as the up source
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* @param downSource The pointer to the DigitalSource to set as the down
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* source
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* @param inverted True to invert the output (reverse the direction)
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*/
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Counter::Counter(EncodingType encodingType, DigitalSource* upSource,
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DigitalSource* downSource, bool inverted)
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: Counter(encodingType, std::shared_ptr<DigitalSource>(
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upSource, NullDeleter<DigitalSource>()),
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std::shared_ptr<DigitalSource>(downSource,
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NullDeleter<DigitalSource>()),
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inverted) {}
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/**
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* Create an instance of a Counter object.
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*
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* Creates a full up-down counter given two Digital Sources.
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*
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* @param encodingType The quadrature decoding mode (1x or 2x)
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* @param upSource The pointer to the DigitalSource to set as the up source
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* @param downSource The pointer to the DigitalSource to set as the down
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* source
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* @param inverted True to invert the output (reverse the direction)
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*/
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Counter::Counter(EncodingType encodingType,
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std::shared_ptr<DigitalSource> upSource,
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std::shared_ptr<DigitalSource> downSource, bool inverted)
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: Counter(kExternalDirection) {
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if (encodingType != k1X && encodingType != k2X) {
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wpi_setWPIErrorWithContext(
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ParameterOutOfRange,
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"Counter only supports 1X and 2X quadrature decoding.");
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return;
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}
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SetUpSource(upSource);
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SetDownSource(downSource);
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int32_t status = 0;
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if (encodingType == k1X) {
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SetUpSourceEdge(true, false);
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HAL_SetCounterAverageSize(m_counter, 1, &status);
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} else {
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SetUpSourceEdge(true, true);
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HAL_SetCounterAverageSize(m_counter, 2, &status);
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}
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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SetDownSourceEdge(inverted, true);
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}
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/**
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* Delete the Counter object.
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*/
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Counter::~Counter() {
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SetUpdateWhenEmpty(true);
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int32_t status = 0;
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HAL_FreeCounter(m_counter, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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m_counter = HAL_kInvalidHandle;
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}
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/**
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* Set the upsource for the counter as a digital input channel.
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*
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* @param channel The DIO channel to use as the up source. 0-9 are on-board,
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* 10-25 are on the MXP
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*/
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void Counter::SetUpSource(int channel) {
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if (StatusIsFatal()) return;
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SetUpSource(std::make_shared<DigitalInput>(channel));
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}
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/**
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* Set the up counting source to be an analog trigger.
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*
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* @param analogTrigger The analog trigger object that is used for the Up Source
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* @param triggerType The analog trigger output that will trigger the counter.
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*/
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void Counter::SetUpSource(AnalogTrigger* analogTrigger,
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AnalogTriggerType triggerType) {
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SetUpSource(std::shared_ptr<AnalogTrigger>(analogTrigger,
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NullDeleter<AnalogTrigger>()),
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triggerType);
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}
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/**
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* Set the up counting source to be an analog trigger.
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*
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* @param analogTrigger The analog trigger object that is used for the Up Source
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* @param triggerType The analog trigger output that will trigger the counter.
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*/
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void Counter::SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
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AnalogTriggerType triggerType) {
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if (StatusIsFatal()) return;
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SetUpSource(analogTrigger->CreateOutput(triggerType));
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}
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/**
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* Set the source object that causes the counter to count up.
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*
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* Set the up counting DigitalSource.
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*
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* @param source Pointer to the DigitalSource object to set as the up source
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*/
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void Counter::SetUpSource(std::shared_ptr<DigitalSource> source) {
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if (StatusIsFatal()) return;
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m_upSource = source;
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if (m_upSource->StatusIsFatal()) {
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CloneError(*m_upSource);
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} else {
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int32_t status = 0;
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HAL_SetCounterUpSource(
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m_counter, source->GetPortHandleForRouting(),
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(HAL_AnalogTriggerType)source->GetAnalogTriggerTypeForRouting(),
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&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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void Counter::SetUpSource(DigitalSource* source) {
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SetUpSource(
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std::shared_ptr<DigitalSource>(source, NullDeleter<DigitalSource>()));
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}
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/**
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* Set the source object that causes the counter to count up.
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*
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* Set the up counting DigitalSource.
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*
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* @param source Reference to the DigitalSource object to set as the up source
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*/
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void Counter::SetUpSource(DigitalSource& source) {
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SetUpSource(
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std::shared_ptr<DigitalSource>(&source, NullDeleter<DigitalSource>()));
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}
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/**
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* Set the edge sensitivity on an up counting source.
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*
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* Set the up source to either detect rising edges or falling edges or both.
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*
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* @param risingEdge True to trigger on rising edges
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* @param fallingEdge True to trigger on falling edges
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*/
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void Counter::SetUpSourceEdge(bool risingEdge, bool fallingEdge) {
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if (StatusIsFatal()) return;
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if (m_upSource == nullptr) {
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wpi_setWPIErrorWithContext(
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NullParameter,
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"Must set non-nullptr UpSource before setting UpSourceEdge");
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}
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int32_t status = 0;
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HAL_SetCounterUpSourceEdge(m_counter, risingEdge, fallingEdge, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Disable the up counting source to the counter.
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*/
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void Counter::ClearUpSource() {
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if (StatusIsFatal()) return;
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m_upSource.reset();
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int32_t status = 0;
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HAL_ClearCounterUpSource(m_counter, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set the down counting source to be a digital input channel.
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*
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* @param channel The DIO channel to use as the up source. 0-9 are on-board,
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* 10-25 are on the MXP
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*/
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void Counter::SetDownSource(int channel) {
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if (StatusIsFatal()) return;
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SetDownSource(std::make_shared<DigitalInput>(channel));
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}
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/**
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* Set the down counting source to be an analog trigger.
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*
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* @param analogTrigger The analog trigger object that is used for the Down
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* Source
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* @param triggerType The analog trigger output that will trigger the counter.
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*/
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void Counter::SetDownSource(AnalogTrigger* analogTrigger,
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AnalogTriggerType triggerType) {
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SetDownSource(std::shared_ptr<AnalogTrigger>(analogTrigger,
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NullDeleter<AnalogTrigger>()),
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triggerType);
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}
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/**
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* Set the down counting source to be an analog trigger.
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*
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* @param analogTrigger The analog trigger object that is used for the Down
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* Source
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* @param triggerType The analog trigger output that will trigger the counter.
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*/
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void Counter::SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
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AnalogTriggerType triggerType) {
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if (StatusIsFatal()) return;
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SetDownSource(analogTrigger->CreateOutput(triggerType));
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}
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/**
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* Set the source object that causes the counter to count down.
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*
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* Set the down counting DigitalSource.
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*
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* @param source Pointer to the DigitalSource object to set as the down source
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*/
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void Counter::SetDownSource(std::shared_ptr<DigitalSource> source) {
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if (StatusIsFatal()) return;
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m_downSource = source;
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if (m_downSource->StatusIsFatal()) {
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CloneError(*m_downSource);
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} else {
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int32_t status = 0;
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HAL_SetCounterDownSource(
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m_counter, source->GetPortHandleForRouting(),
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(HAL_AnalogTriggerType)source->GetAnalogTriggerTypeForRouting(),
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&status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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}
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void Counter::SetDownSource(DigitalSource* source) {
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SetDownSource(
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std::shared_ptr<DigitalSource>(source, NullDeleter<DigitalSource>()));
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}
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/**
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* Set the source object that causes the counter to count down.
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*
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* Set the down counting DigitalSource.
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*
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* @param source Reference to the DigitalSource object to set as the down source
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*/
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void Counter::SetDownSource(DigitalSource& source) {
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SetDownSource(
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std::shared_ptr<DigitalSource>(&source, NullDeleter<DigitalSource>()));
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}
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/**
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* Set the edge sensitivity on a down counting source.
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*
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* Set the down source to either detect rising edges or falling edges.
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*
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* @param risingEdge True to trigger on rising edges
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* @param fallingEdge True to trigger on falling edges
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*/
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void Counter::SetDownSourceEdge(bool risingEdge, bool fallingEdge) {
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if (StatusIsFatal()) return;
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if (m_downSource == nullptr) {
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wpi_setWPIErrorWithContext(
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NullParameter,
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"Must set non-nullptr DownSource before setting DownSourceEdge");
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}
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int32_t status = 0;
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HAL_SetCounterDownSourceEdge(m_counter, risingEdge, fallingEdge, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Disable the down counting source to the counter.
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*/
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void Counter::ClearDownSource() {
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if (StatusIsFatal()) return;
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m_downSource.reset();
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int32_t status = 0;
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HAL_ClearCounterDownSource(m_counter, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set standard up / down counting mode on this counter.
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*
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* Up and down counts are sourced independently from two inputs.
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*/
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void Counter::SetUpDownCounterMode() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetCounterUpDownMode(m_counter, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set external direction mode on this counter.
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*
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* Counts are sourced on the Up counter input.
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* The Down counter input represents the direction to count.
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*/
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void Counter::SetExternalDirectionMode() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetCounterExternalDirectionMode(m_counter, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Set Semi-period mode on this counter.
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*
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* Counts up on both rising and falling edges.
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*/
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void Counter::SetSemiPeriodMode(bool highSemiPeriod) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetCounterSemiPeriodMode(m_counter, highSemiPeriod, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Configure the counter to count in up or down based on the length of the input
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* pulse.
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*
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* This mode is most useful for direction sensitive gear tooth sensors.
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*
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* @param threshold The pulse length beyond which the counter counts the
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* opposite direction. Units are seconds.
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*/
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void Counter::SetPulseLengthMode(double threshold) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetCounterPulseLengthMode(m_counter, threshold, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the Samples to Average which specifies the number of samples of the timer
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* to average when calculating the period.
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*
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* Perform averaging to account for mechanical imperfections or as oversampling
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* to increase resolution.
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*
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* @return The number of samples being averaged (from 1 to 127)
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*/
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int Counter::GetSamplesToAverage() const {
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int32_t status = 0;
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int samples = HAL_GetCounterSamplesToAverage(m_counter, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return samples;
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}
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/**
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* Set the Samples to Average which specifies the number of samples of the timer
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* to average when calculating the period. Perform averaging to account for
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* mechanical imperfections or as oversampling to increase resolution.
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*
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* @param samplesToAverage The number of samples to average from 1 to 127.
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*/
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void Counter::SetSamplesToAverage(int samplesToAverage) {
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if (samplesToAverage < 1 || samplesToAverage > 127) {
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wpi_setWPIErrorWithContext(
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ParameterOutOfRange,
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"Average counter values must be between 1 and 127");
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}
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int32_t status = 0;
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HAL_SetCounterSamplesToAverage(m_counter, samplesToAverage, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Read the current counter value.
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*
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* Read the value at this instant. It may still be running, so it reflects the
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* current value. Next time it is read, it might have a different value.
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*/
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int Counter::Get() const {
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if (StatusIsFatal()) return 0;
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int32_t status = 0;
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int value = HAL_GetCounter(m_counter, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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/**
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* Reset the Counter to zero.
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*
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* Set the counter value to zero. This doesn't effect the running state of the
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* counter, just sets the current value to zero.
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*/
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void Counter::Reset() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_ResetCounter(m_counter, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the Period of the most recent count.
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*
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* Returns the time interval of the most recent count. This can be used for
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* velocity calculations to determine shaft speed.
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*
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* @returns The period between the last two pulses in units of seconds.
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*/
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double Counter::GetPeriod() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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|
double value = HAL_GetCounterPeriod(m_counter, &status);
|
|
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
|
return value;
|
|
}
|
|
|
|
/**
|
|
* Set the maximum period where the device is still considered "moving".
|
|
*
|
|
* Sets the maximum period where the device is considered moving. This value is
|
|
* used to determine the "stopped" state of the counter using the GetStopped
|
|
* method.
|
|
*
|
|
* @param maxPeriod The maximum period where the counted device is considered
|
|
* moving in seconds.
|
|
*/
|
|
void Counter::SetMaxPeriod(double maxPeriod) {
|
|
if (StatusIsFatal()) return;
|
|
int32_t status = 0;
|
|
HAL_SetCounterMaxPeriod(m_counter, maxPeriod, &status);
|
|
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
|
}
|
|
|
|
/**
|
|
* Select whether you want to continue updating the event timer output when
|
|
* there are no samples captured.
|
|
*
|
|
* The output of the event timer has a buffer of periods that are averaged and
|
|
* posted to a register on the FPGA. When the timer detects that the event
|
|
* source has stopped (based on the MaxPeriod) the buffer of samples to be
|
|
* averaged is emptied. If you enable the update when empty, you will be
|
|
* notified of the stopped source and the event time will report 0 samples.
|
|
* If you disable update when empty, the most recent average will remain on
|
|
* the output until a new sample is acquired. You will never see 0 samples
|
|
* output (except when there have been no events since an FPGA reset) and you
|
|
* will likely not see the stopped bit become true (since it is updated at the
|
|
* end of an average and there are no samples to average).
|
|
*
|
|
* @param enabled True to enable update when empty
|
|
*/
|
|
void Counter::SetUpdateWhenEmpty(bool enabled) {
|
|
if (StatusIsFatal()) return;
|
|
int32_t status = 0;
|
|
HAL_SetCounterUpdateWhenEmpty(m_counter, enabled, &status);
|
|
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
|
}
|
|
|
|
/**
|
|
* Determine if the clock is stopped.
|
|
*
|
|
* Determine if the clocked input is stopped based on the MaxPeriod value set
|
|
* using the SetMaxPeriod method. If the clock exceeds the MaxPeriod, then the
|
|
* device (and counter) are assumed to be stopped and it returns true.
|
|
*
|
|
* @return Returns true if the most recent counter period exceeds the MaxPeriod
|
|
* value set by SetMaxPeriod.
|
|
*/
|
|
bool Counter::GetStopped() const {
|
|
if (StatusIsFatal()) return false;
|
|
int32_t status = 0;
|
|
bool value = HAL_GetCounterStopped(m_counter, &status);
|
|
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
|
return value;
|
|
}
|
|
|
|
/**
|
|
* The last direction the counter value changed.
|
|
*
|
|
* @return The last direction the counter value changed.
|
|
*/
|
|
bool Counter::GetDirection() const {
|
|
if (StatusIsFatal()) return false;
|
|
int32_t status = 0;
|
|
bool value = HAL_GetCounterDirection(m_counter, &status);
|
|
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
|
return value;
|
|
}
|
|
|
|
/**
|
|
* Set the Counter to return reversed sensing on the direction.
|
|
*
|
|
* This allows counters to change the direction they are counting in the case of
|
|
* 1X and 2X quadrature encoding only. Any other counter mode isn't supported.
|
|
*
|
|
* @param reverseDirection true if the value counted should be negated.
|
|
*/
|
|
void Counter::SetReverseDirection(bool reverseDirection) {
|
|
if (StatusIsFatal()) return;
|
|
int32_t status = 0;
|
|
HAL_SetCounterReverseDirection(m_counter, reverseDirection, &status);
|
|
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
|
}
|
|
|
|
void Counter::UpdateTable() {
|
|
if (m_table != nullptr) {
|
|
m_table->PutNumber("Value", Get());
|
|
}
|
|
}
|
|
|
|
void Counter::StartLiveWindowMode() {}
|
|
|
|
void Counter::StopLiveWindowMode() {}
|
|
|
|
std::string Counter::GetSmartDashboardType() const { return "Counter"; }
|
|
|
|
void Counter::InitTable(std::shared_ptr<ITable> subTable) {
|
|
m_table = subTable;
|
|
UpdateTable();
|
|
}
|
|
|
|
std::shared_ptr<ITable> Counter::GetTable() const { return m_table; }
|