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
83 lines
3.2 KiB
C++
83 lines
3.2 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 "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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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 direction. The output of
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* the QuadEncoder class is an integer that can count either up or down, and can go negative for
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* reverse direction counting. When creating QuadEncoders, a direction is supplied that changes the
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* sense of the output to make code more readable if the encoder is mounted such that forward movement
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* generates negative values. Quadrature encoders have two digital outputs, an A Channel and a B Channel
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* that are out of phase with each other to allow the FPGA to do direction sensing.
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*/
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class Encoder : public SensorBase, public CounterBase, public PIDSource, public LiveWindowSendable
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{
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public:
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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(uint8_t aModuleNumber, uint32_t aChannel, uint8_t bModuleNumber, uint32_t _bChannel,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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Encoder(DigitalSource &aSource, DigitalSource &bSource, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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virtual ~Encoder();
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// CounterBase interface
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void Start();
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int32_t Get();
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int32_t GetRaw();
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void Reset();
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void Stop();
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double GetPeriod();
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void SetMaxPeriod(double maxPeriod);
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bool GetStopped();
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bool GetDirection();
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double GetDistance();
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double GetRate();
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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();
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void SetPIDSourceParameter(PIDSourceParameter pidSource);
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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 InitEncoder(bool _reverseDirection, EncodingType encodingType);
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double DecodingScaleFactor();
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DigitalSource *m_aSource; // the A phase of the quad encoder
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DigitalSource *m_bSource; // the B phase of the quad encoder
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bool m_allocatedASource; // was the A source allocated locally?
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bool m_allocatedBSource; // was the B source allocated locally?
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void* m_encoder;
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double m_distancePerPulse; // distance of travel for each encoder tick
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Counter *m_counter; // Counter object for 1x and 2x encoding
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EncodingType m_encodingType; // Encoding type
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PIDSourceParameter m_pidSource; // Encoder parameter that sources a PID controller
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ITable *m_table;
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};
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