mirror of
https://github.com/wpilibsuite/allwpilib
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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
94 lines
2.9 KiB
C++
94 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "HAL/Types.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "PIDSource.h"
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#include "SensorBase.h"
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namespace frc {
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/**
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* Analog input class.
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*
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* Connected to each analog channel is an averaging and oversampling engine.
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* This engine accumulates the specified ( by SetAverageBits() and
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* SetOversampleBits() ) number of samples before returning a new value. This
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* is not a sliding window average. The only difference between the oversampled
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* samples and the averaged samples is that the oversampled samples are simply
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* accumulated effectively increasing the resolution, while the averaged samples
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* are divided by the number of samples to retain the resolution, but get more
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* stable values.
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*/
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class AnalogInput : public SensorBase,
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public PIDSource,
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public LiveWindowSendable {
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friend class AnalogTrigger;
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friend class AnalogGyro;
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public:
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static const int kAccumulatorModuleNumber = 1;
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static const int kAccumulatorNumChannels = 2;
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static const int kAccumulatorChannels[kAccumulatorNumChannels];
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explicit AnalogInput(int channel);
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virtual ~AnalogInput();
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int GetValue() const;
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int GetAverageValue() const;
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double GetVoltage() const;
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double GetAverageVoltage() const;
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int GetChannel() const;
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void SetAverageBits(int bits);
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int GetAverageBits() const;
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void SetOversampleBits(int bits);
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int GetOversampleBits() const;
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int GetLSBWeight() const;
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int GetOffset() const;
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bool IsAccumulatorChannel() const;
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void InitAccumulator();
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void SetAccumulatorInitialValue(int64_t value);
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void ResetAccumulator();
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void SetAccumulatorCenter(int center);
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void SetAccumulatorDeadband(int deadband);
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int64_t GetAccumulatorValue() const;
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int64_t GetAccumulatorCount() const;
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void GetAccumulatorOutput(int64_t& value, int64_t& count) const;
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static void SetSampleRate(double samplesPerSecond);
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static double GetSampleRate();
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double PIDGet() 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(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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private:
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int m_channel;
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// TODO: Adjust HAL to avoid use of raw pointers.
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HAL_AnalogInputHandle m_port;
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int64_t m_accumulatorOffset;
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std::shared_ptr<ITable> m_table;
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};
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} // namespace frc
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