mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
59267da72b
Base.h provides a backwards compatibility shim (enabled unless NAMESPACED_WPILIB is defined) that does a "using namespace frc". However, as some header files do not include Base.h, this may be a breaking change in some corner cases (with an easy fix). Fixes #218.
104 lines
3.8 KiB
C++
104 lines
3.8 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. 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 <memory>
|
|
#include <string>
|
|
|
|
#include "CounterBase.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
#include "PIDSource.h"
|
|
#include "SensorBase.h"
|
|
#include "simulation/SimEncoder.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Class to read quad encoders.
|
|
*
|
|
* Quadrature encoders are devices that count shaft rotation and can sense
|
|
* direction. The output of the QuadEncoder class is an integer that can count
|
|
* either up or down, and can go negative for reverse direction counting. When
|
|
* creating QuadEncoders, a direction is supplied that changes the sense of the
|
|
* output to make code more readable if the encoder is mounted such that
|
|
* forward movement generates negative values. Quadrature encoders have two
|
|
* digital outputs, an A Channel and a B Channel that are out of phase with
|
|
* each other to allow the FPGA to do direction sensing.
|
|
*
|
|
* All encoders will immediately start counting - Reset() them if you need them
|
|
* to be zeroed before use.
|
|
*/
|
|
class Encoder : public SensorBase,
|
|
public CounterBase,
|
|
public PIDSource,
|
|
public LiveWindowSendable {
|
|
public:
|
|
Encoder(int aChannel, int bChannel, bool reverseDirection = false,
|
|
EncodingType encodingType = k4X);
|
|
// TODO: [Not Supported] Encoder(DigitalSource *aSource, DigitalSource
|
|
// *bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
|
|
// TODO: [Not Supported] Encoder(DigitalSource &aSource, DigitalSource
|
|
// &bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
|
|
virtual ~Encoder() = default;
|
|
|
|
// CounterBase interface
|
|
int Get() const override;
|
|
int GetRaw() const;
|
|
int GetEncodingScale() const;
|
|
void Reset() override;
|
|
double GetPeriod() const override;
|
|
void SetMaxPeriod(double maxPeriod) override;
|
|
bool GetStopped() const override;
|
|
bool GetDirection() const override;
|
|
|
|
double GetDistance() const;
|
|
double GetRate() const;
|
|
void SetMinRate(double minRate);
|
|
void SetDistancePerPulse(double distancePerPulse);
|
|
void SetReverseDirection(bool reverseDirection);
|
|
void SetSamplesToAverage(int samplesToAverage);
|
|
int GetSamplesToAverage() const;
|
|
void SetPIDSourceType(PIDSourceType pidSource);
|
|
double PIDGet() override;
|
|
|
|
void UpdateTable() override;
|
|
void StartLiveWindowMode() override;
|
|
void StopLiveWindowMode() override;
|
|
std::string GetSmartDashboardType() const override;
|
|
void InitTable(std::shared_ptr<ITable> subTable) override;
|
|
std::shared_ptr<ITable> GetTable() const override;
|
|
|
|
int FPGAEncoderIndex() const { return 0; }
|
|
|
|
private:
|
|
void InitEncoder(int channelA, int channelB, bool reverseDirection,
|
|
EncodingType encodingType);
|
|
double DecodingScaleFactor() const;
|
|
|
|
// the A phase of the quad encoder
|
|
// TODO: [Not Supported] DigitalSource *m_aSource;
|
|
// the B phase of the quad encoder
|
|
// TODO: [Not Supported] DigitalSource *m_bSource;
|
|
// was the A source allocated locally?
|
|
// TODO: [Not Supported] bool m_allocatedASource;
|
|
// was the B source allocated locally?
|
|
// TODO: [Not Supported] bool m_allocatedBSource;
|
|
int channelA, channelB;
|
|
double m_distancePerPulse; // distance of travel for each encoder tick
|
|
EncodingType m_encodingType; // Encoding type
|
|
int m_encodingScale; // 1x, 2x, or 4x, per the encodingType
|
|
bool m_reverseDirection;
|
|
SimEncoder* impl;
|
|
|
|
std::shared_ptr<ITable> m_table;
|
|
};
|
|
|
|
} // namespace frc
|