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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.
107 lines
2.9 KiB
C++
107 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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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#include "AnalogOutput.h"
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#include <limits>
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#include <sstream>
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#include "HAL/HAL.h"
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#include "LiveWindow/LiveWindow.h"
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#include "WPIErrors.h"
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using namespace frc;
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/**
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* Construct an analog output on the given channel.
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*
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* All analog outputs are located on the MXP port.
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*
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* @param channel The channel number on the roboRIO to represent.
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*/
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AnalogOutput::AnalogOutput(int channel) {
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std::stringstream buf;
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buf << "analog input " << channel;
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if (!SensorBase::CheckAnalogOutputChannel(channel)) {
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
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m_channel = std::numeric_limits<int>::max();
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m_port = HAL_kInvalidHandle;
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return;
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}
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m_channel = channel;
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HAL_PortHandle port = HAL_GetPort(m_channel);
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int32_t status = 0;
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m_port = HAL_InitializeAnalogOutputPort(port, &status);
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if (status != 0) {
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wpi_setErrorWithContextRange(status, 0, HAL_GetNumAnalogOutputs(), channel,
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HAL_GetErrorMessage(status));
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m_channel = std::numeric_limits<int>::max();
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m_port = HAL_kInvalidHandle;
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return;
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}
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LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
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HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
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}
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/**
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* Destructor.
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*
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* Frees analog output resource.
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*/
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AnalogOutput::~AnalogOutput() { HAL_FreeAnalogOutputPort(m_port); }
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/**
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* Set the value of the analog output.
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*
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* @param voltage The output value in Volts, from 0.0 to +5.0
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*/
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void AnalogOutput::SetVoltage(double voltage) {
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int32_t status = 0;
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HAL_SetAnalogOutput(m_port, voltage, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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/**
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* Get the voltage of the analog output
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*
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* @return The value in Volts, from 0.0 to +5.0
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*/
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double AnalogOutput::GetVoltage() const {
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int32_t status = 0;
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double voltage = HAL_GetAnalogOutput(m_port, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return voltage;
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}
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void AnalogOutput::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutNumber("Value", GetVoltage());
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}
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}
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void AnalogOutput::StartLiveWindowMode() {}
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void AnalogOutput::StopLiveWindowMode() {}
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std::string AnalogOutput::GetSmartDashboardType() const {
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return "Analog Output";
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}
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void AnalogOutput::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> AnalogOutput::GetTable() const { return m_table; }
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