mirror of
https://github.com/wpilibsuite/allwpilib
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fbdc810887
* Use explicit this capture required by C++20 * Use C++20 span * Replace wpi::numbers with std::numbers * Fix C++20 clang-tidy warning false positive in fmt * Remove ciso646 include since C++20 removed that header * Fix global-buffer-overflow asan warnings in ntcore tests * Add DIOSetProxy constructor to HAL * Upgrade MSVC compiler to 2022 * Bump native-utils to 2023.2.7 (changes to std=c++20) Co-authored-by: Peter Johnson <johnson.peter@gmail.com>
67 lines
1.9 KiB
C++
67 lines
1.9 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/AnalogOutput.h"
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#include <limits>
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#include <utility>
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#include <hal/AnalogOutput.h>
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#include <hal/FRCUsageReporting.h>
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#include <hal/HALBase.h>
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#include <hal/Ports.h>
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#include <wpi/StackTrace.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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#include "frc/Errors.h"
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#include "frc/SensorUtil.h"
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using namespace frc;
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AnalogOutput::AnalogOutput(int channel) {
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if (!SensorUtil::CheckAnalogOutputChannel(channel)) {
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throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
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}
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m_channel = channel;
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HAL_PortHandle port = HAL_GetPort(m_channel);
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int32_t status = 0;
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std::string stackTrace = wpi::GetStackTrace(1);
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m_port = HAL_InitializeAnalogOutputPort(port, stackTrace.c_str(), &status);
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FRC_CheckErrorStatus(status, "Channel {}", channel);
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HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel + 1);
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wpi::SendableRegistry::AddLW(this, "AnalogOutput", m_channel);
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}
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AnalogOutput::~AnalogOutput() {
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HAL_FreeAnalogOutputPort(m_port);
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}
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void AnalogOutput::SetVoltage(double voltage) {
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int32_t status = 0;
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HAL_SetAnalogOutput(m_port, voltage, &status);
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FRC_CheckErrorStatus(status, "Channel {}", m_channel);
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}
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double AnalogOutput::GetVoltage() const {
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int32_t status = 0;
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double voltage = HAL_GetAnalogOutput(m_port, &status);
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FRC_CheckErrorStatus(status, "Channel {}", m_channel);
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return voltage;
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}
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int AnalogOutput::GetChannel() const {
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return m_channel;
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}
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void AnalogOutput::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Analog Output");
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builder.AddDoubleProperty(
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"Value", [=, this] { return GetVoltage(); },
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[=, this](double value) { SetVoltage(value); });
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}
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