mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
75 lines
2.6 KiB
C++
75 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <stdint.h>
|
|
|
|
#include "HAL/Encoder.h"
|
|
|
|
namespace hal {
|
|
class Encoder {
|
|
public:
|
|
Encoder(HalHandle digitalSourceHandleA, AnalogTriggerType analogTriggerTypeA,
|
|
HalHandle digitalSourceHandleB, AnalogTriggerType analogTriggerTypeB,
|
|
bool reverseDirection, EncoderEncodingType encodingType,
|
|
int32_t* status);
|
|
~Encoder();
|
|
|
|
// CounterBase interface
|
|
int32_t Get(int32_t* status) const;
|
|
int32_t GetRaw(int32_t* status) const;
|
|
int32_t GetEncodingScale(int32_t* status) const;
|
|
void Reset(int32_t* status);
|
|
double GetPeriod(int32_t* status) const;
|
|
void SetMaxPeriod(double maxPeriod, int32_t* status);
|
|
bool GetStopped(int32_t* status) const;
|
|
bool GetDirection(int32_t* status) const;
|
|
|
|
double GetDistance(int32_t* status) const;
|
|
double GetRate(int32_t* status) const;
|
|
void SetMinRate(double minRate, int32_t* status);
|
|
void SetDistancePerPulse(double distancePerPulse, int32_t* status);
|
|
void SetReverseDirection(bool reverseDirection, int32_t* status);
|
|
void SetSamplesToAverage(int samplesToAverage, int32_t* status);
|
|
int32_t GetSamplesToAverage(int32_t* status) const;
|
|
|
|
void SetIndexSource(HalHandle digitalSourceHandle,
|
|
AnalogTriggerType analogTriggerType,
|
|
EncoderIndexingType type, int32_t* status);
|
|
|
|
int32_t GetFPGAIndex() const { return m_index; }
|
|
|
|
int32_t GetEncodingScale() const { return m_encodingScale; }
|
|
|
|
double DecodingScaleFactor() const;
|
|
|
|
double GetDistancePerPulse() const { return m_distancePerPulse; }
|
|
|
|
EncoderEncodingType GetEncodingType() const { return m_encodingType; }
|
|
|
|
private:
|
|
void SetupCounter(HalHandle digitalSourceHandleA,
|
|
AnalogTriggerType analogTriggerTypeA,
|
|
HalHandle digitalSourceHandleB,
|
|
AnalogTriggerType analogTriggerTypeB, bool reverseDirection,
|
|
EncoderEncodingType encodingType, int32_t* status);
|
|
|
|
HalFPGAEncoderHandle m_encoder = HAL_INVALID_HANDLE;
|
|
|
|
HalCounterHandle m_counter = HAL_INVALID_HANDLE;
|
|
|
|
int32_t m_index = 0;
|
|
|
|
double m_distancePerPulse = 1.0;
|
|
|
|
EncoderEncodingType m_encodingType;
|
|
|
|
int32_t m_encodingScale;
|
|
};
|
|
}
|