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https://github.com/wpilibsuite/allwpilib
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8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
86 lines
2.9 KiB
C++
86 lines
2.9 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 <string>
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#include <wpi/deprecated.h>
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#include "frc/Counter.h"
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namespace frc {
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/**
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* Alias for counter class.
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*
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* Implements the gear tooth sensor supplied by FIRST. Currently there is no
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* reverse sensing on the gear tooth sensor, but in future versions we might
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* implement the necessary timing in the FPGA to sense direction.
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*
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* @deprecated No longer used per FMS usage reporting
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*/
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class GearTooth : public Counter {
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public:
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// 55 uSec for threshold
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static constexpr double kGearToothThreshold = 55e-6;
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/**
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* Construct a GearTooth sensor given a channel.
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*
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* @param channel The DIO channel that the sensor is connected to.
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* 0-9 are on-board, 10-25 are on the MXP.
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* @param directionSensitive True to enable the pulse length decoding in
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* hardware to specify count direction.
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*/
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WPI_DEPRECATED(
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"The only sensor this works with is no longer available and no teams use "
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"it according to FMS usage reporting.")
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explicit GearTooth(int channel, bool directionSensitive = false);
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/**
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* Construct a GearTooth sensor given a digital input.
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*
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* This should be used when sharing digital inputs.
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*
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* @param source A pointer to the existing DigitalSource object
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* (such as a DigitalInput)
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* @param directionSensitive True to enable the pulse length decoding in
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* hardware to specify count direction.
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*/
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WPI_DEPRECATED(
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"The only sensor this works with is no longer available and no teams use "
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"it according to FMS usage reporting.")
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explicit GearTooth(DigitalSource* source, bool directionSensitive = false);
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/**
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* Construct a GearTooth sensor given a digital input.
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*
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* This should be used when sharing digital inputs.
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*
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* @param source A reference to the existing DigitalSource object
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* (such as a DigitalInput)
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* @param directionSensitive True to enable the pulse length decoding in
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* hardware to specify count direction.
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*/
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WPI_DEPRECATED(
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"The only sensor this works with is no longer available and no teams use "
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"it according to FMS usage reporting.")
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explicit GearTooth(std::shared_ptr<DigitalSource> source,
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bool directionSensitive = false);
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GearTooth(GearTooth&&) = default;
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GearTooth& operator=(GearTooth&&) = default;
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/**
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* Common code called by the constructors.
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*/
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void EnableDirectionSensing(bool directionSensitive);
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void InitSendable(SendableBuilder& builder) override;
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};
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} // namespace frc
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