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102 lines
3.5 KiB
C++
102 lines
3.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2017 FIRST. 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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#include "AnalogPotentiometer.h"
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#include "ControllerPower.h"
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using namespace frc;
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/**
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* Construct an Analog Potentiometer object from a channel number.
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*
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* @param channel The channel number on the roboRIO to represent. 0-3 are
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* on-board 4-7 are on the MXP port.
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* @param fullRange The angular value (in desired units) representing the full
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* 0-5V range of the input.
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* @param offset The angular value (in desired units) representing the
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* angular output at 0V.
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*/
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AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
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double offset)
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: m_analog_input(std::make_unique<AnalogInput>(channel)),
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m_fullRange(fullRange),
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m_offset(offset) {}
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/**
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* Construct an Analog Potentiometer object from an existing Analog Input
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* pointer.
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*
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* @param channel The existing Analog Input pointer
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* @param fullRange The angular value (in desired units) representing the full
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* 0-5V range of the input.
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* @param offset The angular value (in desired units) representing the
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* angular output at 0V.
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*/
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AnalogPotentiometer::AnalogPotentiometer(AnalogInput* input, double fullRange,
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double offset)
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: m_analog_input(input, NullDeleter<AnalogInput>()),
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m_fullRange(fullRange),
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m_offset(offset) {}
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/**
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* Construct an Analog Potentiometer object from an existing Analog Input
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* pointer.
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*
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* @param channel The existing Analog Input pointer
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* @param fullRange The angular value (in desired units) representing the full
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* 0-5V range of the input.
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* @param offset The angular value (in desired units) representing the
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* angular output at 0V.
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*/
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AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
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double fullRange, double offset)
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: m_analog_input(input), m_fullRange(fullRange), m_offset(offset) {}
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/**
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* Get the current reading of the potentiometer.
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*
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* @return The current position of the potentiometer (in the units used for
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* fullRange and offset).
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*/
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double AnalogPotentiometer::Get() const {
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return (m_analog_input->GetVoltage() / ControllerPower::GetVoltage5V()) *
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m_fullRange +
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m_offset;
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}
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/**
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* Implement the PIDSource interface.
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*
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* @return The current reading.
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*/
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double AnalogPotentiometer::PIDGet() { return Get(); }
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/**
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* @return the Smart Dashboard Type
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*/
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std::string AnalogPotentiometer::GetSmartDashboardType() const {
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return "Analog Input";
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}
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/**
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* Live Window code, only does anything if live window is activated.
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*/
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void AnalogPotentiometer::InitTable(
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std::shared_ptr<nt::NetworkTable> subtable) {
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if (subtable) {
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m_valueEntry = subtable->GetEntry("Value");
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UpdateTable();
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} else {
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m_valueEntry = nt::NetworkTableEntry();
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}
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}
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void AnalogPotentiometer::UpdateTable() {
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if (m_valueEntry) m_valueEntry.SetDouble(Get());
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}
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