mirror of
https://github.com/wpilibsuite/allwpilib
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85 lines
2.4 KiB
C++
85 lines
2.4 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <stdint.h>
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#include "wpi/hal/AnalogInput.h"
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#include "wpi/hal/Types.hpp"
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#include "wpi/util/sendable/Sendable.hpp"
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#include "wpi/util/sendable/SendableHelper.hpp"
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namespace wpi {
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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 is
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* 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 wpi::util::Sendable,
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public wpi::util::SendableHelper<AnalogInput> {
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public:
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/**
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* Construct an analog input.
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*
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* @param channel The SmartIO channel to use.
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*/
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explicit AnalogInput(int channel);
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AnalogInput(AnalogInput&&) = default;
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AnalogInput& operator=(AnalogInput&&) = default;
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~AnalogInput() override = default;
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/**
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* Get a sample straight from this channel.
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*
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* The sample is a 12-bit value representing the 0V to 3.3V range of the A/D
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* converter in the module. The units are in A/D converter codes. Use
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* GetVoltage() to get the analog value in calibrated units.
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*
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* @return A sample straight from this channel.
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*/
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int GetValue() const;
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/**
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* Get a scaled sample straight from this channel.
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*
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* The value is scaled to units of Volts.
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*
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* @return A scaled sample straight from this channel.
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*/
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double GetVoltage() const;
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/**
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* Get the channel number.
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*
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* @return The channel number.
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*/
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int GetChannel() const;
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/**
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* Indicates this input is used by a simulated device.
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*
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* @param device simulated device handle
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*/
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void SetSimDevice(HAL_SimDeviceHandle device);
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void InitSendable(wpi::util::SendableBuilder& builder) override;
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private:
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int m_channel;
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wpi::hal::Handle<HAL_AnalogInputHandle, HAL_FreeAnalogInputPort> m_port;
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};
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} // namespace wpi
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