mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-26 01:51:41 +00:00
87a64ccedc
The existing raw time has an issue where it jumps around, as in the FPGA if the frequency is not a multiple or divisor of 25 Mhz it jumps around by 1 every second. While waiting on an FPGA change, update the API to make raw output give nanoseconds rather then a scaled value. This does a longer read cycle to get the correct value, but in the future if a fast FPGA function is added this can be easily changed.
127 lines
3.0 KiB
C++
127 lines
3.0 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
|
|
#include <hal/Types.h>
|
|
#include <units/time.h>
|
|
#include <wpi/sendable/Sendable.h>
|
|
#include <wpi/sendable/SendableHelper.h>
|
|
|
|
namespace frc {
|
|
class DigitalSource;
|
|
class AnalogTrigger;
|
|
class DMA;
|
|
class DMASample;
|
|
|
|
/**
|
|
* Class to read a duty cycle PWM input.
|
|
*
|
|
* <p>PWM input signals are specified with a frequency and a ratio of high to
|
|
* low in that frequency. There are 8 of these in the roboRIO, and they can be
|
|
* attached to any DigitalSource.
|
|
*
|
|
* <p>These can be combined as the input of an AnalogTrigger to a Counter in
|
|
* order to implement rollover checking.
|
|
*
|
|
*/
|
|
class DutyCycle : public wpi::Sendable, public wpi::SendableHelper<DutyCycle> {
|
|
friend class AnalogTrigger;
|
|
friend class DMA;
|
|
friend class DMASample;
|
|
|
|
public:
|
|
/**
|
|
* Constructs a DutyCycle input from a DigitalSource input.
|
|
*
|
|
* <p> This class does not own the inputted source.
|
|
*
|
|
* @param source The DigitalSource to use.
|
|
*/
|
|
explicit DutyCycle(DigitalSource& source);
|
|
/**
|
|
* Constructs a DutyCycle input from a DigitalSource input.
|
|
*
|
|
* <p> This class does not own the inputted source.
|
|
*
|
|
* @param source The DigitalSource to use.
|
|
*/
|
|
explicit DutyCycle(DigitalSource* source);
|
|
/**
|
|
* Constructs a DutyCycle input from a DigitalSource input.
|
|
*
|
|
* <p> This class does not own the inputted source.
|
|
*
|
|
* @param source The DigitalSource to use.
|
|
*/
|
|
explicit DutyCycle(std::shared_ptr<DigitalSource> source);
|
|
|
|
/**
|
|
* Close the DutyCycle and free all resources.
|
|
*/
|
|
~DutyCycle() override;
|
|
|
|
DutyCycle(DutyCycle&&) = default;
|
|
DutyCycle& operator=(DutyCycle&&) = default;
|
|
|
|
/**
|
|
* Get the frequency of the duty cycle signal.
|
|
*
|
|
* @return frequency in Hertz
|
|
*/
|
|
int GetFrequency() const;
|
|
|
|
/**
|
|
* Get the output ratio of the duty cycle signal.
|
|
*
|
|
* <p> 0 means always low, 1 means always high.
|
|
*
|
|
* @return output ratio between 0 and 1
|
|
*/
|
|
double GetOutput() const;
|
|
|
|
/**
|
|
* Get the raw high time of the duty cycle signal.
|
|
*
|
|
* @return high time of last pulse
|
|
*/
|
|
units::second_t GetHighTime() const;
|
|
|
|
/**
|
|
* Get the scale factor of the output.
|
|
*
|
|
* <p> An output equal to this value is always high, and then linearly scales
|
|
* down to 0. Divide a raw result by this in order to get the
|
|
* percentage between 0 and 1. Used by DMA.
|
|
*
|
|
* @return the output scale factor
|
|
*/
|
|
unsigned int GetOutputScaleFactor() const;
|
|
|
|
/**
|
|
* Get the FPGA index for the DutyCycle.
|
|
*
|
|
* @return the FPGA index
|
|
*/
|
|
int GetFPGAIndex() const;
|
|
|
|
/**
|
|
* Get the channel of the source.
|
|
*
|
|
* @return the source channel
|
|
*/
|
|
int GetSourceChannel() const;
|
|
|
|
protected:
|
|
void InitSendable(wpi::SendableBuilder& builder) override;
|
|
|
|
private:
|
|
void InitDutyCycle();
|
|
std::shared_ptr<DigitalSource> m_source;
|
|
hal::Handle<HAL_DutyCycleHandle> m_handle;
|
|
};
|
|
} // namespace frc
|