mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
120 lines
4.5 KiB
C++
120 lines
4.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "HAL/HAL.hpp"
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#include "CounterBase.h"
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#include "SensorBase.h"
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#include "Counter.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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class DigitalSource;
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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
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* the QuadEncoder class is an integer that can count either up or down, and can
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* go negative for
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* reverse direction counting. When creating QuadEncoders, a direction is
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* supplied that changes the
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* sense of the output to make code more readable if the encoder is mounted such
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* that forward movement
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* generates negative values. Quadrature encoders have two digital outputs, an A
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* Channel and a B Channel
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* that are out of phase with each other to allow the FPGA to do direction
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* 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(uint32_t aChannel, uint32_t 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,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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DEPRECATED(
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"Raw pointers are deprecated; if you wish to construct your own copy of "
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"the DigitalSource and pass it to the constructor, use an "
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"std::shared_ptr instead.")
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Encoder(DigitalSource *aSource, DigitalSource *bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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DEPRECATED(
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"References are deprecated; if you wish to construct your own copy of "
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"the DigitalSource and pass it to the constructor, use an "
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"std::shared_ptr instead.")
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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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int32_t Get() const override;
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int32_t GetRaw() const;
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int32_t 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(uint32_t channel, IndexingType type = kResetOnRisingEdge);
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DEPRECATED("Raw pointers are deprecated; use references 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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int32_t GetFPGAIndex() const { return m_index; }
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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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void *m_encoder = nullptr;
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int32_t m_index = 0; // The encoder's FPGA index.
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double m_distancePerPulse = 1.0; // distance of travel for each encoder tick
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std::unique_ptr<Counter> m_counter =
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nullptr; // Counter object for 1x and 2x encoding
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EncodingType m_encodingType; // Encoding type
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int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
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std::shared_ptr<ITable> m_table = nullptr;
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};
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