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.
112 lines
4.0 KiB
C++
112 lines
4.0 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 "Counter.h"
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#include "CounterBase.h"
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#include "HAL/Encoder.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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class DigitalSource;
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class DigitalGlitchFilter;
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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
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* direction. The output of the QuadEncoder class is an integer that can count
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* either up or down, and can go negative for reverse direction counting. When
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* creating QuadEncoders, a direction is supplied that changes the sense of the
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* output to make code more readable if the encoder is mounted such that forward
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* movement generates negative values. Quadrature encoders have two digital
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* outputs, an A Channel and a B Channel that are out of phase with each other
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* 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,
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public CounterBase,
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public PIDSource,
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public LiveWindowSendable {
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public:
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enum IndexingType {
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kResetWhileHigh,
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kResetWhileLow,
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kResetOnFallingEdge,
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kResetOnRisingEdge
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};
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Encoder(int aChannel, int bChannel, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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Encoder(std::shared_ptr<DigitalSource> aSource,
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std::shared_ptr<DigitalSource> bSource, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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Encoder(DigitalSource* aSource, DigitalSource* bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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Encoder(DigitalSource& aSource, DigitalSource& bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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virtual ~Encoder();
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// CounterBase interface
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int Get() const override;
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int GetRaw() const;
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int 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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double PIDGet() override;
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void SetIndexSource(int channel, IndexingType type = kResetOnRisingEdge);
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WPI_DEPRECATED("Use pass-by-reference instead.")
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void SetIndexSource(DigitalSource* source,
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IndexingType type = kResetOnRisingEdge);
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void SetIndexSource(const DigitalSource& source,
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IndexingType type = kResetOnRisingEdge);
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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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int GetFPGAIndex() const;
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private:
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void InitEncoder(bool reverseDirection, EncodingType encodingType);
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double DecodingScaleFactor() const;
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std::shared_ptr<DigitalSource> m_aSource; // the A phase of the quad encoder
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std::shared_ptr<DigitalSource> m_bSource; // the B phase of the quad encoder
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std::unique_ptr<DigitalSource> m_indexSource = nullptr;
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HAL_EncoderHandle m_encoder = HAL_kInvalidHandle;
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std::shared_ptr<ITable> m_table;
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friend class DigitalGlitchFilter;
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};
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} // namespace frc
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