mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
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.
66 lines
2.1 KiB
C++
66 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
#include <string>
|
|
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
#include "PIDSource.h"
|
|
#include "SensorBase.h"
|
|
#include "simulation/SimFloatInput.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Analog input class.
|
|
*
|
|
* Connected to each analog channel is an averaging and oversampling engine.
|
|
* This engine accumulates the specified ( by SetAverageBits() and
|
|
* SetOversampleBits() ) number of samples before returning a new value. This
|
|
* is not a sliding window average. The only difference between the
|
|
* oversampled samples and the averaged samples is that the oversampled samples
|
|
* are simply accumulated effectively increasing the resolution, while the
|
|
* averaged samples are divided by the number of samples to retain the
|
|
* resolution, but get more stable values.
|
|
*/
|
|
class AnalogInput : public SensorBase,
|
|
public PIDSource,
|
|
public LiveWindowSendable {
|
|
public:
|
|
static const int kAccumulatorModuleNumber = 1;
|
|
static const int kAccumulatorNumChannels = 2;
|
|
static const int kAccumulatorChannels[kAccumulatorNumChannels];
|
|
|
|
explicit AnalogInput(int channel);
|
|
virtual ~AnalogInput() = default;
|
|
|
|
double GetVoltage() const;
|
|
double GetAverageVoltage() const;
|
|
|
|
int GetChannel() const;
|
|
|
|
double PIDGet() override;
|
|
|
|
void UpdateTable() override;
|
|
void StartLiveWindowMode() override;
|
|
void StopLiveWindowMode() override;
|
|
std::string GetSmartDashboardType() const override;
|
|
void InitTable(std::shared_ptr<ITable> subTable) override;
|
|
std::shared_ptr<ITable> GetTable() const override;
|
|
|
|
private:
|
|
int m_channel;
|
|
SimFloatInput* m_impl;
|
|
int64_t m_accumulatorOffset;
|
|
|
|
std::shared_ptr<ITable> m_table;
|
|
};
|
|
|
|
} // namespace frc
|