mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
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
89 lines
2.9 KiB
C++
89 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 <memory>
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#include "HAL/Types.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "PIDSource.h"
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#include "SensorBase.h"
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/**
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* Analog input class.
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*
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* Connected to each analog channel is an averaging and oversampling engine.
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* This engine accumulates the specified ( by SetAverageBits() and
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* SetOversampleBits() ) number of samples before returning a new value. This
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* is not a sliding window average. The only difference between the oversampled
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* samples and the averaged samples is that the oversampled samples are simply
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* accumulated effectively increasing the resolution, while the averaged samples
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* are divided by the number of samples to retain the resolution, but get more
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* stable values.
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*/
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class AnalogInput : public SensorBase,
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public PIDSource,
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public LiveWindowSendable {
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friend class AnalogTrigger;
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friend class AnalogGyro;
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public:
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static const uint8_t kAccumulatorModuleNumber = 1;
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static const uint32_t kAccumulatorNumChannels = 2;
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static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels];
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explicit AnalogInput(uint32_t channel);
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virtual ~AnalogInput();
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int32_t GetValue() const;
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int32_t GetAverageValue() const;
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float GetVoltage() const;
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float GetAverageVoltage() const;
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uint32_t GetChannel() const;
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void SetAverageBits(int32_t bits);
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int32_t GetAverageBits() const;
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void SetOversampleBits(int32_t bits);
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int32_t GetOversampleBits() const;
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int32_t GetLSBWeight() const;
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int32_t GetOffset() const;
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bool IsAccumulatorChannel() const;
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void InitAccumulator();
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void SetAccumulatorInitialValue(int64_t value);
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void ResetAccumulator();
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void SetAccumulatorCenter(int32_t center);
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void SetAccumulatorDeadband(int32_t deadband);
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int64_t GetAccumulatorValue() const;
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int64_t GetAccumulatorCount() const;
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void GetAccumulatorOutput(int64_t& value, int64_t& count) const;
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static void SetSampleRate(float samplesPerSecond);
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static float GetSampleRate();
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double PIDGet() override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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private:
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uint32_t m_channel;
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// TODO: Adjust HAL to avoid use of raw pointers.
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HAL_AnalogInputHandle m_port;
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int64_t m_accumulatorOffset;
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std::shared_ptr<ITable> m_table;
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};
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