mirror of
https://github.com/wpilibsuite/allwpilib
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f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
75 lines
2.6 KiB
C++
75 lines
2.6 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 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 "GearTooth.h"
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#include "SmartDashboard/SendableBuilder.h"
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using namespace frc;
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constexpr double GearTooth::kGearToothThreshold;
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/**
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* Common code called by the constructors.
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*/
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void GearTooth::EnableDirectionSensing(bool directionSensitive) {
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if (directionSensitive) {
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SetPulseLengthMode(kGearToothThreshold);
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}
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}
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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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GearTooth::GearTooth(int channel, bool directionSensitive) : Counter(channel) {
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EnableDirectionSensing(directionSensitive);
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SetName("GearTooth", channel);
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}
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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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GearTooth::GearTooth(DigitalSource* source, bool directionSensitive)
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: Counter(source) {
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EnableDirectionSensing(directionSensitive);
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SetName("GearTooth", source->GetChannel());
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}
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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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GearTooth::GearTooth(std::shared_ptr<DigitalSource> source,
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bool directionSensitive)
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: Counter(source) {
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EnableDirectionSensing(directionSensitive);
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SetName("GearTooth", source->GetChannel());
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}
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void GearTooth::InitSendable(SendableBuilder& builder) {
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Counter::InitSendable(builder);
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builder.SetSmartDashboardType("Gear Tooth");
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}
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