mirror of
https://github.com/wpilibsuite/allwpilib
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bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
84 lines
2.6 KiB
C++
84 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(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 "SensorBase.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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class AnalogModule;
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/**
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* Analog channel class.
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*
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* Each analog channel is read from hardware as a 12-bit number representing -10V to 10V.
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*
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* Connected to each analog channel is an averaging and oversampling engine. This engine accumulates
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* the specified ( by SetAverageBits() and SetOversampleBits() ) number of samples before returning a new
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* value. This is not a sliding window average. The only difference between the oversampled samples and
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* the averaged samples is that the oversampled samples are simply accumulated effectively increasing the
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* resolution, while the averaged samples are divided by the number of samples to retain the resolution,
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* but get more stable values.
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*/
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class AnalogChannel : public SensorBase, public PIDSource, public LiveWindowSendable
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{
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public:
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static const uint8_t kAccumulatorModuleNumber = 1;
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static const uint32_t kAccumulatorNumChannels = 2;
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static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels];
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AnalogChannel(uint8_t moduleNumber, uint32_t channel);
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explicit AnalogChannel(uint32_t channel);
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virtual ~AnalogChannel();
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AnalogModule *GetModule();
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int16_t GetValue();
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int32_t GetAverageValue();
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float GetVoltage();
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float GetAverageVoltage();
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uint8_t GetModuleNumber();
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uint32_t GetChannel();
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void SetAverageBits(uint32_t bits);
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uint32_t GetAverageBits();
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void SetOversampleBits(uint32_t bits);
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uint32_t GetOversampleBits();
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uint32_t GetLSBWeight();
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int32_t GetOffset();
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bool IsAccumulatorChannel();
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void InitAccumulator();
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void SetAccumulatorInitialValue(int64_t value);
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void ResetAccumulator();
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void SetAccumulatorCenter(int32_t center);
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void SetAccumulatorDeadband(int32_t deadband);
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int64_t GetAccumulatorValue();
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uint32_t GetAccumulatorCount();
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void GetAccumulatorOutput(int64_t *value, uint32_t *count);
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double PIDGet();
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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private:
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void InitChannel(uint8_t moduleNumber, uint32_t channel);
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uint32_t m_channel, m_module;
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void* m_port;
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int64_t m_accumulatorOffset;
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ITable *m_table;
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};
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