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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
81 lines
2.4 KiB
C++
81 lines
2.4 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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#include "GearTooth.h"
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#include "LiveWindow/LiveWindow.h"
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constexpr double GearTooth::kGearToothThreshold;
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/**
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* Common code called by the constructors.
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*/
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void GearTooth::EnableDirectionSensing(bool directionSensitive)
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{
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if (directionSensitive)
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{
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SetPulseLengthMode(kGearToothThreshold);
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}
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}
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/**
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* Construct a GearTooth sensor given a channel.
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*
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* The default module is assumed.
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*
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* @param channel The GPIO channel on the digital module that the sensor is connected to.
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* @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
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*/
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GearTooth::GearTooth(uint32_t channel, bool directionSensitive)
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: Counter(channel)
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{
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EnableDirectionSensing(directionSensitive);
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}
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/**
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* Construct a GearTooth sensor given a channel and module.
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*
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* @param moduleNumber The digital module (1 or 2).
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* @param channel The GPIO channel on the digital module that the sensor is connected to.
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* @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
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*/
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GearTooth::GearTooth(uint8_t moduleNumber, uint32_t channel, bool directionSensitive)
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: Counter(moduleNumber, channel)
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{
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EnableDirectionSensing(directionSensitive);
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LiveWindow::GetInstance()->AddSensor("GearTooth", moduleNumber, channel, this);
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}
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/**
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* Construct a GearTooth sensor given a digital input.
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* This should be used when sharing digial inputs.
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*
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* @param source An object that fully descibes the input that the sensor is connected to.
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* @param directionSensitive Enable the pulse length decoding in hardware to specify count direction.
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*/
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GearTooth::GearTooth(DigitalSource *source, bool directionSensitive)
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: Counter(source)
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{
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EnableDirectionSensing(directionSensitive);
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}
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GearTooth::GearTooth(DigitalSource &source, bool directionSensitive): Counter(source)
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{
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EnableDirectionSensing(directionSensitive);
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}
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/**
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* Free the resources associated with a gear tooth sensor.
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*/
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GearTooth::~GearTooth()
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{
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}
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std::string GearTooth::GetSmartDashboardType() {
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return "GearTooth";
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}
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