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534ea134a4
This deals with the majority of the user-facing code in wpilibC++Devices and a substantial portion of it in wpilibC++. wpilibC++Sim and wpilibC++IntegrationTests are untouched except where it is necessary to make them work with the rest of the libraries. There is still a lot to do in the following areas: -The HAL (which we may not want to touch at all). -The I2C, Serial, and SPI interfaces in wpilibC++Devices, which I haven't gotten around to doing yet. -Most wpilibC++Devices classes have void* pointers for interacting with the HAL. -InterruptableSensorBase passes a void *params for the interrupt handler. -I haven't converted all the const char* to std::strings. -There are plenty of other cases of raw pointers still existing. -This doesn't fall directly under raw pointer stuff, but move syntax and rvalue references could be introduced in many places. -I haven't touched vision code. -The Resource classes conflict (one is in the hal, the other in wpilibC++). Someone should figure out a more permanent fix (eg, just renaming them), then doing what I did (making a new namespace for one of them, essentially the same as renaming it). A few other things: -I created a NullDeleter class which is marked as deprecated. What this does is it can be passed as the deleter to a std::shared_ptr so that when you are converting raw pointers to shared_ptrs the shared_ptr doesn't do any deletion if someone else owns the raw pointer. This should only be used in making old raw pointer UIs. -I had to alter the build.gradle so that it did not emit errors when deprecated functions called deprecated functions. Unfortunately, gradle doesn't appear to be actually printing out gcc warnigns for some reason. The best way I have found to fix this is to patch the toolchains (https://bitbucket.org/byteit101/toolchain-builder/pull-request/5/make-gcc-not-throw-warnings-for-nested/diff) so that a deprecated function calling a deprecated function is fine but a non-deprecated function calling a deprecated function will throw a warning (which we then elevate with -Werror). I believe that clang deals with this properly, although I have not tried it myself. Change-Id: Ib8090c66893576fe73654f4e9d268f9d37be06a2
92 lines
3.1 KiB
C++
92 lines
3.1 KiB
C++
#include "AnalogInput.h"
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#include "interfaces/Potentiometer.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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/**
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* Class for reading analog potentiometers. Analog potentiometers read
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* in an analog voltage that corresponds to a position. The position is
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* in whichever units you choose, by way of the scaling and offset
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* constants passed to the constructor.
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*
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* @author Alex Henning
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* @author Colby Skeggs (rail voltage)
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*/
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class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
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public:
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/**
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* AnalogPotentiometer constructor.
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*
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* Use the fullRange and offset values so that the output produces
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* meaningful values. I.E: you have a 270 degree potentiometer and
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* you want the output to be degrees with the halfway point as 0
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* degrees. The fullRange value is 270.0(degrees) and the offset is
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* -135.0 since the halfway point after scaling is 135 degrees.
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*
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* This will calculate the result from the fullRange times the
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* fraction of the supply voltage, plus the offset.
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*
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* @param channel The analog channel this potentiometer is plugged into.
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* @param fullRange The scaling to multiply the voltage by to get a meaningful
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* unit.
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* @param offset The offset to add to the scaled value for controlling the
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* zero value
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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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[[deprecated(
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"Raw pointers are deprecated; if you just want to construct an "
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"AnalogPotentiometer with its own AnalogInput, then call the "
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"AnalogPotentiometer(int channel). If you want to keep your own copy of "
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"the AnalogInput, use std::shared_ptr.")]]
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explicit AnalogPotentiometer(AnalogInput *input, double fullRange = 1.0,
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double offset = 0.0);
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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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virtual ~AnalogPotentiometer() = default;
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/**
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* Get the current reading of the potentiomer.
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*
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* @return The current position of the potentiometer.
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*/
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virtual double Get() const override;
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/**
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* Implement the PIDSource interface.
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*
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* @return The current reading.
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*/
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virtual double PIDGet() const override;
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/*
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* Live Window code, only does anything if live window is activated.
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*/
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virtual std::string GetSmartDashboardType() const override;
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virtual void InitTable(::std::shared_ptr<ITable> subtable) override;
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virtual void UpdateTable() override;
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virtual ::std::shared_ptr<ITable> GetTable() const override;
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/**
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* AnalogPotentiometers don't have to do anything special when entering the
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* LiveWindow.
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*/
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virtual void StartLiveWindowMode() override {}
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/**
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* AnalogPotentiometers don't have to do anything special when exiting the
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* LiveWindow.
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*/
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virtual void StopLiveWindowMode() 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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::std::shared_ptr<ITable> m_table;
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bool m_init_analog_input;
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};
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