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https://github.com/wpilibsuite/allwpilib
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38 lines
1.4 KiB
C++
38 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2017. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include <string>
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#include "Counter.h"
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namespace frc {
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/**
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* Alias for counter class.
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* Implement the gear tooth sensor supplied by FIRST. Currently there is no
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* reverse sensing on the gear tooth sensor, but in future versions we might
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* implement the necessary timing in the FPGA to sense direction.
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*/
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class GearTooth : public Counter {
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public:
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/// 55 uSec for threshold
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static constexpr double kGearToothThreshold = 55e-6;
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explicit GearTooth(int channel, bool directionSensitive = false);
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explicit GearTooth(DigitalSource* source, bool directionSensitive = false);
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explicit GearTooth(std::shared_ptr<DigitalSource> source,
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bool directionSensitive = false);
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virtual ~GearTooth() = default;
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void EnableDirectionSensing(bool directionSensitive);
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std::string GetSmartDashboardType() const override;
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};
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} // namespace frc
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