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https://github.com/wpilibsuite/allwpilib
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123 lines
4.9 KiB
C++
123 lines
4.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "HAL/HAL.hpp"
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#include "AnalogTriggerOutput.h"
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#include "CounterBase.h"
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#include "SensorBase.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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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
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* of counts, the period of the most recent cycle, and detect when the signal
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* being counted
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* 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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explicit Counter(Mode mode = kTwoPulse);
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explicit Counter(int32_t channel);
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[[deprecated(
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"Raw pointers are deprecated; if you just want to construct a Counter "
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"with its own DigitalSource, then call the Counter(int channel). If you "
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"want to keep your own copy of the DigitalSource, use "
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"std::shared_ptr.")]]
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explicit Counter(DigitalSource *source);
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explicit Counter(std::shared_ptr<DigitalSource> source);
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[[deprecated(
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"Raw pointers are 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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[[deprecated(
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"Raw pointers are deprecated; prefer to use shared_ptr instead.")]]
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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(int32_t channel);
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[[deprecated(
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"Raw pointers are deprecated; prefer to call either SetUpSource(int) or "
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"SetUpSource(shared_ptr).")]]
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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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[[deprecated("Raw pointers are deprecated. Use std::shared_ptr instead.")]]
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void SetUpSource(DigitalSource *source);
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void SetUpSource(std::shared_ptr<DigitalSource> source);
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[[deprecated("References are deprecated. Use std::shared_ptr instead.")]]
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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(int32_t channel);
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[[deprecated(
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"Raw pointers are deprecated; prefer to call either SetDownSource(int) "
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"or SetDownSource(shared_ptr).")]]
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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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[[deprecated("Raw pointers are deprecated. Use std::shared_ptr instead.")]]
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void SetDownSource(DigitalSource *source);
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void SetDownSource(std::shared_ptr<DigitalSource> source);
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[[deprecated("References are deprecated. Use std::shared_ptr instead.")]]
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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(float threshold);
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void SetReverseDirection(bool reverseDirection);
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// CounterBase interface
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int32_t 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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uint32_t 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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virtual 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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void *m_counter = nullptr; ///< The FPGA counter object.
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private:
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uint32_t m_index = 0; ///< The index of this counter.
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std::shared_ptr<ITable> m_table = nullptr;
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};
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