mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
7eb8550bdb
The changes made in this commit do not affect any actual code,
they are purely aesthetic. I ran clang-format with google style
over all .h/.cpp files in wpilibc that weren't in wpilibC++Sim
or gtest, and the eclipse formatter over all of the Java files
using the Google eclipse formatting configuration.
Change-Id: I9627bca0bc103c398ecc1c5ba17467193291ae63
91 lines
2.8 KiB
C++
91 lines
2.8 KiB
C++
|
|
#include "AnalogInput.h"
|
|
#include "interfaces/Potentiometer.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
|
|
/**
|
|
* Class for reading analog potentiometers. Analog potentiometers read
|
|
* in an analog voltage that corresponds to a position. The position is
|
|
* in whichever units you choose, by way of the scaling and offset
|
|
* constants passed to the constructor.
|
|
*
|
|
* @author Alex Henning
|
|
* @author Colby Skeggs (rail voltage)
|
|
*/
|
|
class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
|
|
public:
|
|
/**
|
|
* AnalogPotentiometer constructor.
|
|
*
|
|
* Use the fullRange and offset values so that the output produces
|
|
* meaningful values. I.E: you have a 270 degree potentiometer and
|
|
* you want the output to be degrees with the halfway point as 0
|
|
* degrees. The fullRange value is 270.0(degrees) and the offset is
|
|
* -135.0 since the halfway point after scaling is 135 degrees.
|
|
*
|
|
* This will calculate the result from the fullRange times the
|
|
* fraction of the supply voltage, plus the offset.
|
|
*
|
|
* @param channel The analog channel this potentiometer is plugged into.
|
|
* @param fullRange The scaling to multiply the voltage by to get a meaningful
|
|
* unit.
|
|
* @param offset The offset to add to the scaled value for controlling the
|
|
* zero value
|
|
*/
|
|
explicit AnalogPotentiometer(int channel, double fullRange = 1.0,
|
|
double offset = 0.0);
|
|
|
|
explicit AnalogPotentiometer(AnalogInput *input, double fullRange = 1.0,
|
|
double offset = 0.0);
|
|
|
|
explicit AnalogPotentiometer(AnalogInput &input, double fullRange = 1.0,
|
|
double offset = 0.0);
|
|
|
|
virtual ~AnalogPotentiometer();
|
|
|
|
/**
|
|
* Get the current reading of the potentiomer.
|
|
*
|
|
* @return The current position of the potentiometer.
|
|
*/
|
|
virtual double Get() const override;
|
|
|
|
/**
|
|
* Implement the PIDSource interface.
|
|
*
|
|
* @return The current reading.
|
|
*/
|
|
virtual double PIDGet() const override;
|
|
|
|
/*
|
|
* Live Window code, only does anything if live window is activated.
|
|
*/
|
|
virtual std::string GetSmartDashboardType() const override;
|
|
virtual void InitTable(ITable *subtable) override;
|
|
virtual void UpdateTable() override;
|
|
virtual ITable *GetTable() const override;
|
|
|
|
/**
|
|
* AnalogPotentiometers don't have to do anything special when entering the
|
|
* LiveWindow.
|
|
*/
|
|
virtual void StartLiveWindowMode() override {}
|
|
|
|
/**
|
|
* AnalogPotentiometers don't have to do anything special when exiting the
|
|
* LiveWindow.
|
|
*/
|
|
virtual void StopLiveWindowMode() override {}
|
|
|
|
private:
|
|
double m_fullRange, m_offset;
|
|
AnalogInput *m_analog_input;
|
|
ITable *m_table;
|
|
bool m_init_analog_input;
|
|
|
|
/**
|
|
* Common initialization code called by all constructors.
|
|
*/
|
|
void initPot(AnalogInput *input, double fullRange, double offset);
|
|
};
|