mirror of
https://github.com/wpilibsuite/allwpilib
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5598445a67
See https://usfirst.collab.net/sf/tracker/do/viewArtifact/projects.wpilib/tracker.4_defects/artf4148 Change-Id: I47b0d5a91fd49e47e2c7348b0705e998ec815682
87 lines
3.6 KiB
C++
87 lines
3.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "simulation/SimEncoder.h"
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#include "CounterBase.h"
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#include "SensorBase.h"
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#include "Counter.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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/**
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* Class to read quad encoders.
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* Quadrature encoders are devices that count shaft rotation and can sense direction. The output of
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* the QuadEncoder class is an integer that can count either up or down, and can go negative for
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* reverse direction counting. When creating QuadEncoders, a direction is supplied that changes the
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* sense of the output to make code more readable if the encoder is mounted such that forward movement
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* generates negative values. Quadrature encoders have two digital outputs, an A Channel and a B Channel
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* that are out of phase with each other to allow the FPGA to do direction sensing.
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*
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* All encoders 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 Encoder : public SensorBase, public CounterBase, public PIDSource, public LiveWindowSendable
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{
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public:
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Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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// TODO: [Not Supported] Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
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// TODO: [Not Supported] Encoder(DigitalSource &aSource, DigitalSource &bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
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virtual ~Encoder();
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// CounterBase interface
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int32_t Get() const override;
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int32_t GetRaw() const;
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int32_t GetEncodingScale() const;
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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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bool GetStopped() const override;
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bool GetDirection() const override;
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double GetDistance() const;
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double GetRate() const;
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void SetMinRate(double minRate);
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void SetDistancePerPulse(double distancePerPulse);
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void SetReverseDirection(bool reverseDirection);
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage() const;
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void SetPIDSourceParameter(PIDSourceParameter pidSource);
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double PIDGet() const override;
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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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std::string GetSmartDashboardType() const override;
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void InitTable(ITable *subTable) override;
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ITable * GetTable() const override;
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int32_t FPGAEncoderIndex() const
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{
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return 0;
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}
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private:
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void InitEncoder(int channelA, int channelB, bool _reverseDirection, EncodingType encodingType);
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double DecodingScaleFactor() const;
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// TODO: [Not Supported] DigitalSource *m_aSource; // the A phase of the quad encoder
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// TODO: [Not Supported] DigitalSource *m_bSource; // the B phase of the quad encoder
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// TODO: [Not Supported] bool m_allocatedASource; // was the A source allocated locally?
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// TODO: [Not Supported] bool m_allocatedBSource; // was the B source allocated locally?
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int channelA, channelB;
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double m_distancePerPulse; // distance of travel for each encoder tick
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EncodingType m_encodingType; // Encoding type
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int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
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PIDSourceParameter m_pidSource; // Encoder parameter that sources a PID controller
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bool m_reverseDirection;
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SimEncoder* impl;
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ITable *m_table;
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};
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