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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.
528 lines
19 KiB
C++
528 lines
19 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 "Encoder.h"
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#include "DigitalInput.h"
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#include "HAL/HAL.h"
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#include "LiveWindow/LiveWindow.h"
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#include "WPIErrors.h"
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using namespace frc;
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/**
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* Common initialization code for Encoders.
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*
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* This code allocates resources for Encoders and is common to all constructors.
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*
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* The counter will start counting immediately.
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*
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* @param reverseDirection If true, counts down instead of up (this is all
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* relative)
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
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* decoding. If 4X is selected, then an encoder FPGA
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* object is used and the returned counts will be 4x
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* the encoder spec'd value since all rising and
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* falling edges are counted. If 1X or 2X are selected
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* then a counter object will be used and the returned
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* value will either exactly match the spec'd count or
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* be double (2x) the spec'd count.
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*/
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void Encoder::InitEncoder(bool reverseDirection, EncodingType encodingType) {
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int32_t status = 0;
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m_encoder = HAL_InitializeEncoder(
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m_aSource->GetPortHandleForRouting(),
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(HAL_AnalogTriggerType)m_aSource->GetAnalogTriggerTypeForRouting(),
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m_bSource->GetPortHandleForRouting(),
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(HAL_AnalogTriggerType)m_bSource->GetAnalogTriggerTypeForRouting(),
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reverseDirection, (HAL_EncoderEncodingType)encodingType, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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HAL_Report(HALUsageReporting::kResourceType_Encoder, GetFPGAIndex(),
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encodingType);
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LiveWindow::GetInstance()->AddSensor("Encoder", m_aSource->GetChannel(),
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this);
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}
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/**
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* Encoder constructor.
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*
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* Construct a Encoder given a and b channels.
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*
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* The counter will start counting immediately.
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*
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* @param aChannel The a channel DIO channel. 0-9 are on-board, 10-25
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* are on the MXP port
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* @param bChannel The b channel DIO channel. 0-9 are on-board, 10-25
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* are on the MXP port
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* @param reverseDirection represents the orientation of the encoder and
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* inverts the output values if necessary so forward
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* represents positive values.
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
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* decoding. If 4X is selected, then an encoder FPGA
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* object is used and the returned counts will be 4x
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* the encoder spec'd value since all rising and
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* falling edges are counted. If 1X or 2X are selected
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* then a counter object will be used and the returned
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* value will either exactly match the spec'd count or
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* be double (2x) the spec'd count.
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*/
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Encoder::Encoder(int aChannel, int bChannel, bool reverseDirection,
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EncodingType encodingType) {
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m_aSource = std::make_shared<DigitalInput>(aChannel);
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m_bSource = std::make_shared<DigitalInput>(bChannel);
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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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*
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* Construct a Encoder given a and b channels as digital inputs. This is used in
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* the case where the digital inputs are shared. The Encoder class will not
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* allocate the digital inputs and assume that they already are counted.
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*
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* The counter will start counting immediately.
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*
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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
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* inverts the output values if necessary so forward
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* represents positive values.
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
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* decoding. If 4X is selected, then an encoder FPGA
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* object is used and the returned counts will be 4x
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* the encoder spec'd value since all rising and
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* falling edges are counted. If 1X or 2X are selected
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* then a counter object will be used and the returned
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* value will either exactly match the spec'd count or
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* be double (2x) the spec'd count.
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*/
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Encoder::Encoder(DigitalSource* aSource, DigitalSource* bSource,
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bool reverseDirection, EncodingType encodingType)
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: m_aSource(aSource, NullDeleter<DigitalSource>()),
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m_bSource(bSource, NullDeleter<DigitalSource>()) {
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if (m_aSource == nullptr || m_bSource == nullptr)
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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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Encoder::Encoder(std::shared_ptr<DigitalSource> aSource,
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std::shared_ptr<DigitalSource> bSource, bool reverseDirection,
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EncodingType encodingType)
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: m_aSource(aSource), m_bSource(bSource) {
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if (m_aSource == nullptr || m_bSource == nullptr)
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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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*
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* Construct a Encoder given a and b channels as digital inputs. This is used in
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* the case where the digital inputs are shared. The Encoder class will not
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* allocate the digital inputs and assume that they already are counted.
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*
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* The counter will start counting immediately.
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*
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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
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* inverts the output values if necessary so forward
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* represents positive values.
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* @param encodingType either k1X, k2X, or k4X to indicate 1X, 2X or 4X
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* decoding. If 4X is selected, then an encoder FPGA
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* object is used and the returned counts will be 4x
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* the encoder spec'd value since all rising and
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* falling edges are counted. If 1X or 2X are selected
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* then a counter object will be used and the returned
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* value will either exactly match the spec'd count or
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* be double (2x) the spec'd count.
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*/
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Encoder::Encoder(DigitalSource& aSource, DigitalSource& bSource,
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bool reverseDirection, EncodingType encodingType)
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: m_aSource(&aSource, NullDeleter<DigitalSource>()),
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m_bSource(&bSource, NullDeleter<DigitalSource>()) {
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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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*
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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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int32_t status = 0;
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HAL_FreeEncoder(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* The encoding scale factor 1x, 2x, or 4x, per the requested encodingType.
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*
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* Used to divide raw edge counts down to spec'd counts.
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*/
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int Encoder::GetEncodingScale() const {
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int32_t status = 0;
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int val = HAL_GetEncoderEncodingScale(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return val;
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}
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/**
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* Gets the raw value from the encoder.
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*
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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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*
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* @return Current raw count from the encoder
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*/
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int Encoder::GetRaw() const {
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if (StatusIsFatal()) return 0;
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int32_t status = 0;
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int value = HAL_GetEncoderRaw(m_encoder, &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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* Gets the current count.
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*
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* Returns the current count on the Encoder. This method compensates for the
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* decoding type.
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*
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* @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale
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* factor.
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*/
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int Encoder::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_GetEncoder(m_encoder, &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 Encoder distance to zero.
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*
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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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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_ResetEncoder(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Returns the period of the most recent pulse.
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*
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* Returns the period of the most recent Encoder pulse in seconds.
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* This method compensates for the decoding type.
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*
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* @deprecated Use GetRate() in favor of this method. This returns unscaled
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* periods and GetRate() scales using value from
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* 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() 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_GetEncoderPeriod(m_encoder, &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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* Sets the maximum period for stopped detection.
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*
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* Sets the value that represents the maximum period of the Encoder before it
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* will assume that the attached device is stopped. This timeout allows users
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* to determine if the wheels or 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
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* periods and SetMinRate() scales using value from
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* SetDistancePerPulse().
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*
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* @param maxPeriod The maximum time between rising and falling edges before
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* the FPGA will report the device stopped. This is expressed
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* in seconds.
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*/
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void Encoder::SetMaxPeriod(double maxPeriod) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetEncoderMaxPeriod(m_encoder, maxPeriod, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Determine if the encoder is stopped.
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*
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* Using the MaxPeriod value, a boolean is returned that is true if the encoder
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* is considered stopped and false if it is still moving. A stopped encoder is
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* one where the most recent pulse width exceeds the MaxPeriod.
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*
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* @return True if the encoder is considered stopped.
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*/
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bool Encoder::GetStopped() const {
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if (StatusIsFatal()) return true;
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int32_t status = 0;
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bool value = HAL_GetEncoderStopped(m_encoder, &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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* The last direction the encoder value changed.
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*
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* @return The last direction the encoder value changed.
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*/
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bool Encoder::GetDirection() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value = HAL_GetEncoderDirection(m_encoder, &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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* The scale needed to convert a raw counter value into a number of encoder
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* pulses.
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*/
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double Encoder::DecodingScaleFactor() const {
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if (StatusIsFatal()) return 0.0;
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int32_t status = 0;
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double val = HAL_GetEncoderDecodingScaleFactor(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return val;
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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
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* SetDistancePerPulse().
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*/
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double Encoder::GetDistance() 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_GetEncoderDistance(m_encoder, &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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* Get the current rate of the encoder.
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*
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* Units are distance per second as scaled by the value from
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* 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() 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_GetEncoderRate(m_encoder, &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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* 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
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* scaled by the value from SetDistancePerPulse().
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*/
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void Encoder::SetMinRate(double minRate) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetEncoderMinRate(m_encoder, minRate, &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 distance per pulse for this encoder.
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*
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* This sets the multiplier used to determine the distance driven based on the
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* count value from the encoder.
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*
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* Do not include the decoding type in this scale. The library already
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* compensates for the decoding type.
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*
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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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*
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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
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* to useful units.
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*/
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void Encoder::SetDistancePerPulse(double distancePerPulse) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetEncoderDistancePerPulse(m_encoder, distancePerPulse, &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 direction sensing for this encoder.
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*
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* This sets the direction sensing on the encoder so that it could count in the
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* correct software direction regardless of the mounting.
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*
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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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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetEncoderReverseDirection(m_encoder, reverseDirection, &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 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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* @param samplesToAverage The number of samples to average from 1 to 127.
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*/
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void Encoder::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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return;
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}
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int32_t status = 0;
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HAL_SetEncoderSamplesToAverage(m_encoder, samplesToAverage, &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 Encoder::GetSamplesToAverage() const {
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int32_t status = 0;
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int result = HAL_GetEncoderSamplesToAverage(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return result;
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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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if (StatusIsFatal()) return 0.0;
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switch (GetPIDSourceType()) {
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case PIDSourceType::kDisplacement:
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return GetDistance();
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case PIDSourceType::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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/**
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* Set the index source for the encoder.
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*
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* When this source is activated, the encoder count automatically resets.
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*
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* @param channel A DIO channel to set as the encoder index
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* @param type The state that will cause the encoder to reset
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*/
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void Encoder::SetIndexSource(int channel, Encoder::IndexingType type) {
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// Force digital input if just given an index
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m_indexSource = std::make_unique<DigitalInput>(channel);
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SetIndexSource(m_indexSource.get(), type);
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}
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/**
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* Set the index source for the encoder.
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*
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* When this source is activated, the encoder count automatically resets.
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*
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* @param channel A digital source to set as the encoder index
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* @param type The state that will cause the encoder to reset
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*/
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WPI_DEPRECATED("Use pass-by-reference instead.")
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void Encoder::SetIndexSource(DigitalSource* source,
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Encoder::IndexingType type) {
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SetIndexSource(*source, type);
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}
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/**
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* Set the index source for the encoder.
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*
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* When this source is activated, the encoder count automatically resets.
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*
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* @param channel A digital source to set as the encoder index
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* @param type The state that will cause the encoder to reset
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*/
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void Encoder::SetIndexSource(const DigitalSource& source,
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Encoder::IndexingType type) {
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int32_t status = 0;
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HAL_SetEncoderIndexSource(
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m_encoder, source.GetPortHandleForRouting(),
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(HAL_AnalogTriggerType)source.GetAnalogTriggerTypeForRouting(),
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(HAL_EncoderIndexingType)type, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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int Encoder::GetFPGAIndex() const {
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int32_t status = 0;
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int val = HAL_GetEncoderFPGAIndex(m_encoder, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return val;
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}
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void Encoder::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutNumber("Speed", GetRate());
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m_table->PutNumber("Distance", GetDistance());
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int32_t status = 0;
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double distancePerPulse =
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HAL_GetEncoderDistancePerPulse(m_encoder, &status);
|
|
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
|
m_table->PutNumber("Distance per Tick", distancePerPulse);
|
|
}
|
|
}
|
|
|
|
void Encoder::StartLiveWindowMode() {}
|
|
|
|
void Encoder::StopLiveWindowMode() {}
|
|
|
|
std::string Encoder::GetSmartDashboardType() const {
|
|
int32_t status = 0;
|
|
HAL_EncoderEncodingType type = HAL_GetEncoderEncodingType(m_encoder, &status);
|
|
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
|
|
if (type == HAL_EncoderEncodingType::HAL_Encoder_k4X)
|
|
return "Quadrature Encoder";
|
|
else
|
|
return "Encoder";
|
|
}
|
|
|
|
void Encoder::InitTable(std::shared_ptr<ITable> subTable) {
|
|
m_table = subTable;
|
|
UpdateTable();
|
|
}
|
|
|
|
std::shared_ptr<ITable> Encoder::GetTable() const { return m_table; }
|