mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
9bcff37b93
Cleans up error writing, and allows fewer headers to be included in many of the wpilibc cpp files. This removes all usages of the hal/HAL.h header.
75 lines
2.3 KiB
C++
75 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2019 FIRST. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "frc/AnalogOutput.h"
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#include <limits>
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#include <utility>
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#include <hal/AnalogOutput.h>
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#include <hal/FRCUsageReporting.h>
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#include <hal/HALBase.h>
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#include <hal/Ports.h>
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#include "frc/SensorUtil.h"
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#include "frc/WPIErrors.h"
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#include "frc/smartdashboard/SendableBuilder.h"
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#include "frc/smartdashboard/SendableRegistry.h"
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using namespace frc;
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AnalogOutput::AnalogOutput(int channel) {
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if (!SensorUtil::CheckAnalogOutputChannel(channel)) {
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
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"analog output " + wpi::Twine(channel));
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m_channel = std::numeric_limits<int>::max();
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m_port = HAL_kInvalidHandle;
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return;
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}
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m_channel = channel;
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HAL_PortHandle port = HAL_GetPort(m_channel);
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int32_t status = 0;
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m_port = HAL_InitializeAnalogOutputPort(port, &status);
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if (status != 0) {
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wpi_setHALErrorWithRange(status, 0, HAL_GetNumAnalogOutputs(), channel);
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m_channel = std::numeric_limits<int>::max();
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m_port = HAL_kInvalidHandle;
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return;
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}
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HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel + 1);
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SendableRegistry::GetInstance().AddLW(this, "AnalogOutput", m_channel);
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}
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AnalogOutput::~AnalogOutput() { HAL_FreeAnalogOutputPort(m_port); }
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void AnalogOutput::SetVoltage(double voltage) {
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int32_t status = 0;
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HAL_SetAnalogOutput(m_port, voltage, &status);
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wpi_setHALError(status);
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}
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double AnalogOutput::GetVoltage() const {
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int32_t status = 0;
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double voltage = HAL_GetAnalogOutput(m_port, &status);
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wpi_setHALError(status);
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return voltage;
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}
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int AnalogOutput::GetChannel() { return m_channel; }
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void AnalogOutput::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Analog Output");
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builder.AddDoubleProperty("Value", [=]() { return GetVoltage(); },
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[=](double value) { SetVoltage(value); });
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}
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