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2aed432b4b
This makes code easier to read and more consistent between C++ and Java. Also update clang-format settings to always add a line break (even if no braces are used).
77 lines
2.0 KiB
C++
77 lines
2.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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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() {
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HAL_FreeAnalogOutputPort(m_port);
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}
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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() const {
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return m_channel;
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}
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void AnalogOutput::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Analog Output");
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builder.AddDoubleProperty(
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"Value", [=]() { return GetVoltage(); },
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[=](double value) { SetVoltage(value); });
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}
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