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8d961dfd25
Replace with new exception-based error reporting, consistent with Java. This also builds stacktraces into the reporting/exceptions.
114 lines
4.3 KiB
C++
114 lines
4.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <memory>
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#include "frc/AnalogInput.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SendableBuilder;
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/**
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* Class for reading analog potentiometers. Analog potentiometers read in an
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* analog voltage that corresponds to a position. The position is in whichever
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* units you choose, by way of the scaling and offset constants passed to the
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* constructor.
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*/
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class AnalogPotentiometer : public Sendable,
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public SendableHelper<AnalogPotentiometer> {
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public:
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/**
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* Construct an Analog Potentiometer object from a channel number.
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*
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* Use the fullRange and offset values so that the output produces meaningful
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* values. I.E: you have a 270 degree potentiometer and you want the output to
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* be degrees with the halfway point as 0 degrees. The fullRange value is
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* 270.0 degrees and the offset is -135.0 since the halfway point after
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* scaling is 135 degrees.
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*
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* This will calculate the result from the fullRange times the fraction of the
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* supply voltage, plus the offset.
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*
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* @param channel The Analog Input channel number on the roboRIO the
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* potentiometer is plugged into. 0-3 are on-board and 4-7
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* are on the MXP port.
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* @param fullRange The value (in desired units) representing the full
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* 0-5V range of the input.
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* @param offset The value (in desired units) representing the
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* angular output at 0V.
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*/
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explicit AnalogPotentiometer(int channel, double fullRange = 1.0,
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double offset = 0.0);
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/**
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* Construct an Analog Potentiometer object from an existing Analog Input
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* pointer.
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*
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* Use the fullRange and offset values so that the output produces meaningful
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* values. I.E: you have a 270 degree potentiometer and you want the output to
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* be degrees with the halfway point as 0 degrees. The fullRange value is
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* 270.0 degrees and the offset is -135.0 since the halfway point after
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* scaling is 135 degrees.
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*
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* This will calculate the result from the fullRange times the fraction of the
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* supply voltage, plus the offset.
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*
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* @param channel The existing Analog Input pointer
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* @param fullRange The value (in desired units) representing the full
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* 0-5V range of the input.
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* @param offset The value (in desired units) representing the
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* angular output at 0V.
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*/
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explicit AnalogPotentiometer(AnalogInput* input, double fullRange = 1.0,
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double offset = 0.0);
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/**
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* Construct an Analog Potentiometer object from an existing Analog Input
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* pointer.
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*
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* Use the fullRange and offset values so that the output produces meaningful
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* values. I.E: you have a 270 degree potentiometer and you want the output to
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* be degrees with the halfway point as 0 degrees. The fullRange value is
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* 270.0 degrees and the offset is -135.0 since the halfway point after
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* scaling is 135 degrees.
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*
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* This will calculate the result from the fullRange times the fraction of the
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* supply voltage, plus the offset.
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*
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* @param channel The existing Analog Input pointer
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* @param fullRange The value (in desired units) representing the full
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* 0-5V range of the input.
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* @param offset The value (in desired units) representing the
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* angular output at 0V.
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*/
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explicit AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
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double fullRange = 1.0, double offset = 0.0);
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~AnalogPotentiometer() override = default;
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AnalogPotentiometer(AnalogPotentiometer&&) = default;
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AnalogPotentiometer& operator=(AnalogPotentiometer&&) = default;
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/**
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* Get the current reading of the potentiometer.
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*
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* @return The current position of the potentiometer (in the units used for
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* fullRange and offset).
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*/
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double Get() const;
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void InitSendable(SendableBuilder& builder) override;
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private:
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std::shared_ptr<AnalogInput> m_analog_input;
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double m_fullRange, m_offset;
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};
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} // namespace frc
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