mirror of
https://github.com/wpilibsuite/allwpilib
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b51e85ae26
* Switches HAL to fixed length signed integers, and adds our own HAL_Bool type * Replaces HAL Floats with Doubles Doubles are just as fast as floats with optimizations turned on, so switches to all doubles. All made doubles for consistency. * Prepends HAL/ to HAL include files. Also fixes some range errors
77 lines
3.5 KiB
C
77 lines
3.5 KiB
C
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. 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 <stdint.h>
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#include "HAL/AnalogTrigger.h"
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#include "HAL/Types.h"
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extern "C" {
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enum HAL_EncoderIndexingType {
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HAL_kResetWhileHigh,
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HAL_kResetWhileLow,
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HAL_kResetOnFallingEdge,
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HAL_kResetOnRisingEdge
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};
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enum HAL_EncoderEncodingType {
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HAL_Encoder_k1X,
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HAL_Encoder_k2X,
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HAL_Encoder_k4X
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};
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HAL_EncoderHandle HAL_InitializeEncoder(
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HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
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HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
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HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType,
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int32_t* status);
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void HAL_FreeEncoder(HAL_EncoderHandle encoder_handle, int32_t* status);
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int32_t HAL_GetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status);
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int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoder_handle, int32_t* status);
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int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoder_handle,
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int32_t* status);
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void HAL_ResetEncoder(HAL_EncoderHandle encoder_handle, int32_t* status);
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double HAL_GetEncoderPeriod(HAL_EncoderHandle encoder_handle, int32_t* status);
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void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoder_handle, double maxPeriod,
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int32_t* status);
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HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoder_handle,
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int32_t* status);
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HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoder_handle,
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int32_t* status);
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double HAL_GetEncoderDistance(HAL_EncoderHandle encoder_handle,
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int32_t* status);
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double HAL_GetEncoderRate(HAL_EncoderHandle encoder_handle, int32_t* status);
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void HAL_SetEncoderMinRate(HAL_EncoderHandle encoder_handle, double minRate,
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int32_t* status);
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void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle,
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double distancePerPulse, int32_t* status);
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void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoder_handle,
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HAL_Bool reverseDirection, int32_t* status);
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void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle,
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int32_t samplesToAverage, int32_t* status);
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int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoder_handle,
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int32_t* status);
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void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoder_handle,
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HAL_Handle digitalSourceHandle,
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HAL_AnalogTriggerType analogTriggerType,
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HAL_EncoderIndexingType type, int32_t* status);
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int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoder_handle,
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int32_t* status);
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double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoder_handle,
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int32_t* status);
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double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoder_handle,
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int32_t* status);
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HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
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HAL_EncoderHandle encoder_handle, int32_t* status);
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}
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