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https://github.com/wpilibsuite/allwpilib
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a0be07c370
A templated hal::Handle class is used to wrap handles to make them move-only. This eliminates a lot of boilerplate move constructor/assignment code in the main WPILib classes. HAL_SPIPort and HAL_I2CPort are also wrapped. The wrapper class does not implement destruction. This would require the wrapper class to be handle-specific (rather than generic) and would result in more code added than it removed, plus would add header dependencies on more HAL headers. In addition, some HAL handle release functions are more complex (e.g. have return values) and can't be easily mapped to a destructor.
145 lines
4.4 KiB
C++
145 lines
4.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 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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#pragma once
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#include <memory>
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#include <hal/Types.h>
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#include "frc/AnalogTriggerOutput.h"
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#include "frc/ErrorBase.h"
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#include "frc/smartdashboard/SendableBase.h"
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namespace frc {
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class AnalogInput;
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class AnalogTrigger : public ErrorBase, public SendableBase {
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friend class AnalogTriggerOutput;
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public:
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/**
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* Constructor for an analog trigger given a channel number.
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*
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* @param channel The channel number on the roboRIO to represent. 0-3 are
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* on-board 4-7 are on the MXP port.
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*/
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explicit AnalogTrigger(int channel);
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/**
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* Construct an analog trigger given an analog input.
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*
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* This should be used in the case of sharing an analog channel between the
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* trigger and an analog input object.
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*
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* @param channel The pointer to the existing AnalogInput object
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*/
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explicit AnalogTrigger(AnalogInput* channel);
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~AnalogTrigger() override;
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AnalogTrigger(AnalogTrigger&& rhs);
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AnalogTrigger& operator=(AnalogTrigger&& rhs);
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/**
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* Set the upper and lower limits of the analog trigger.
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*
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* The limits are given as floating point voltage values.
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*
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* @param lower The lower limit of the trigger in Volts.
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* @param upper The upper limit of the trigger in Volts.
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*/
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void SetLimitsVoltage(double lower, double upper);
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/**
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* Set the upper and lower limits of the analog trigger.
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*
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* The limits are given in ADC codes. If oversampling is used, the units must
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* be scaled appropriately.
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*
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* @param lower The lower limit of the trigger in ADC codes (12-bit values).
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* @param upper The upper limit of the trigger in ADC codes (12-bit values).
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*/
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void SetLimitsRaw(int lower, int upper);
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/**
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* Configure the analog trigger to use the averaged vs. raw values.
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*
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* If the value is true, then the averaged value is selected for the analog
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* trigger, otherwise the immediate value is used.
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*
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* @param useAveragedValue If true, use the Averaged value, otherwise use the
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* instantaneous reading
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*/
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void SetAveraged(bool useAveragedValue);
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/**
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* Configure the analog trigger to use a filtered value.
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*
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* The analog trigger will operate with a 3 point average rejection filter.
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* This is designed to help with 360 degree pot applications for the period
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* where the pot crosses through zero.
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*
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* @param useFilteredValue If true, use the 3 point rejection filter,
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* otherwise use the unfiltered value
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*/
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void SetFiltered(bool useFilteredValue);
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/**
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* Return the index of the analog trigger.
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*
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* This is the FPGA index of this analog trigger instance.
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*
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* @return The index of the analog trigger.
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*/
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int GetIndex() const;
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/**
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* Return the InWindow output of the analog trigger.
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*
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* True if the analog input is between the upper and lower limits.
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*
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* @return True if the analog input is between the upper and lower limits.
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*/
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bool GetInWindow();
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/**
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* Return the TriggerState output of the analog trigger.
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*
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* True if above upper limit.
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* False if below lower limit.
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* If in Hysteresis, maintain previous state.
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*
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* @return True if above upper limit. False if below lower limit. If in
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* Hysteresis, maintain previous state.
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*/
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bool GetTriggerState();
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/**
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* Creates an AnalogTriggerOutput object.
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*
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* Gets an output object that can be used for routing. Caller is responsible
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* for deleting the AnalogTriggerOutput object.
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*
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* @param type An enum of the type of output object to create.
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* @return A pointer to a new AnalogTriggerOutput object.
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*/
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std::shared_ptr<AnalogTriggerOutput> CreateOutput(
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AnalogTriggerType type) const;
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void InitSendable(SendableBuilder& builder) override;
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private:
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int m_index;
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hal::Handle<HAL_AnalogTriggerHandle> m_trigger;
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AnalogInput* m_analogInput = nullptr;
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bool m_ownsAnalog = false;
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};
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} // namespace frc
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