mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
ac4b0a3118
Using GetAverageVoltage will reduce the noise in potentiometer reading. Potentiometers are unlikely to be used where the minimal lag averaging introduces would impact control loop stability.
48 lines
1.9 KiB
C++
48 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) 2016-2020 FIRST. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "frc/AnalogPotentiometer.h"
|
|
|
|
#include "frc/RobotController.h"
|
|
#include "frc/smartdashboard/SendableBuilder.h"
|
|
#include "frc/smartdashboard/SendableRegistry.h"
|
|
|
|
using namespace frc;
|
|
|
|
AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
|
|
double offset)
|
|
: AnalogPotentiometer(std::make_shared<AnalogInput>(channel), fullRange,
|
|
offset) {
|
|
SendableRegistry::GetInstance().AddChild(this, m_analog_input.get());
|
|
}
|
|
|
|
AnalogPotentiometer::AnalogPotentiometer(AnalogInput* input, double fullRange,
|
|
double offset)
|
|
: AnalogPotentiometer(
|
|
std::shared_ptr<AnalogInput>(input, NullDeleter<AnalogInput>()),
|
|
fullRange, offset) {}
|
|
|
|
AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
|
|
double fullRange, double offset)
|
|
: m_analog_input(input), m_fullRange(fullRange), m_offset(offset) {
|
|
SendableRegistry::GetInstance().AddLW(this, "AnalogPotentiometer",
|
|
m_analog_input->GetChannel());
|
|
}
|
|
|
|
double AnalogPotentiometer::Get() const {
|
|
return (m_analog_input->GetAverageVoltage() /
|
|
RobotController::GetVoltage5V()) *
|
|
m_fullRange +
|
|
m_offset;
|
|
}
|
|
|
|
double AnalogPotentiometer::PIDGet() { return Get(); }
|
|
|
|
void AnalogPotentiometer::InitSendable(SendableBuilder& builder) {
|
|
m_analog_input->InitSendable(builder);
|
|
}
|