mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
98f2d08103
The HAL will remain untouched in order to maintain C-style compatibility. A few places in wpilibc were left as C-style strings, especially if special formatting (eg, elaborate uses of snprintf or sscanf) was being used. In general, const char* was changed to std::string. character buffers used for formatting were either untouched, changed to std::stringstream, or changed to std::string, depending on what was done with the buffer. Change-Id: I5e431ddf1cc4d9a6d534e1f21b16ea23be26e7f1
100 lines
2.7 KiB
C++
100 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. 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 "AnalogOutput.h"
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#include "Resource.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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#include <sstream>
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static ::std::unique_ptr<Resource> outputs;
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/**
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* Construct an analog output on the given channel.
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* All analog outputs are located on the MXP port.
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* @param The channel number on the roboRIO to represent.
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*/
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AnalogOutput::AnalogOutput(uint32_t channel) {
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Resource::CreateResourceObject(outputs, kAnalogOutputs);
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std::stringstream buf;
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buf << "analog input " << channel;
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if (!checkAnalogOutputChannel(channel)) {
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
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return;
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}
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if (outputs->Allocate(channel, buf.str()) == ~0ul) {
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CloneError(*outputs);
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return;
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}
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m_channel = channel;
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void *port = getPort(m_channel);
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int32_t status = 0;
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m_port = initializeAnalogOutputPort(port, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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LiveWindow::GetInstance().AddActuator("AnalogOutput", m_channel, this);
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HALReport(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
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}
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/**
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* Destructor. Frees analog output resource
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*/
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AnalogOutput::~AnalogOutput() { outputs->Free(m_channel); }
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/**
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* Set the value of the analog output
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*
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* @param voltage The output value in Volts, from 0.0 to +5.0
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*/
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void AnalogOutput::SetVoltage(float voltage) {
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int32_t status = 0;
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setAnalogOutput(m_port, voltage, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Get the voltage of the analog output
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*
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* @return The value in Volts, from 0.0 to +5.0
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*/
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float AnalogOutput::GetVoltage() const {
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int32_t status = 0;
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float voltage = getAnalogOutput(m_port, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return voltage;
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}
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void AnalogOutput::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutNumber("Value", GetVoltage());
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}
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}
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void AnalogOutput::StartLiveWindowMode() {}
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void AnalogOutput::StopLiveWindowMode() {}
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std::string AnalogOutput::GetSmartDashboardType() const {
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return "Analog Output";
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}
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void AnalogOutput::InitTable(::std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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::std::shared_ptr<ITable> AnalogOutput::GetTable() const { return m_table; }
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