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https://github.com/wpilibsuite/allwpilib
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100 lines
3.0 KiB
C++
100 lines
3.0 KiB
C++
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#include "AnalogPotentiometer.h"
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#include "ControllerPower.h"
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/**
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* Common initialization code called by all constructors.
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*/
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void AnalogPotentiometer::initPot(AnalogInput *input, double fullRange, double offset) {
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m_fullRange = fullRange;
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m_offset = offset;
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m_analog_input = input;
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}
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/**
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* Construct an Analog Potentiometer object from a channel number.
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* @param channel The channel number on the roboRIO to represent. 0-3 are on-board 4-7 are on the MXP port.
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* @param fullRange The angular value (in desired units) representing the full 0-5V range of the input.
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* @param offset The angular value (in desired units) representing the angular output at 0V.
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*/
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AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange, double offset) {
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m_init_analog_input = true;
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initPot(new AnalogInput(channel), fullRange, offset);
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}
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/**
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* Construct an Analog Potentiometer object from an existing Analog Input pointer.
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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 0-5V range of the input.
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* @param offset The angular value (in desired units) representing the angular output at 0V.
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*/
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AnalogPotentiometer::AnalogPotentiometer(AnalogInput *input, double fullRange, double offset) {
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m_init_analog_input = false;
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initPot(input, fullRange, offset);
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}
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/**
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* Construct an Analog Potentiometer object from an existing Analog Input reference.
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* @param channel The existing Analog Input reference
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* @param fullRange The angular value (in desired units) representing the full 0-5V range of the input.
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* @param offset The angular value (in desired units) representing the angular output at 0V.
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*/
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AnalogPotentiometer::AnalogPotentiometer(AnalogInput &input, double fullRange, double offset) {
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m_init_analog_input = false;
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initPot(&input, fullRange, offset);
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}
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/**
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* Destructor. Releases the Analog Input resource if it was allocated by this object
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*/
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AnalogPotentiometer::~AnalogPotentiometer() {
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if(m_init_analog_input){
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delete m_analog_input;
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m_init_analog_input = false;
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}
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}
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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 fullRaneg and offset).
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*/
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double AnalogPotentiometer::Get() {
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return (m_analog_input->GetVoltage() / ControllerPower::GetVoltage5V()) * m_fullRange + 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() {
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return Get();
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}
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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() {
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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(ITable *subtable) {
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m_table = subtable;
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UpdateTable();
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}
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void AnalogPotentiometer::UpdateTable() {
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if (m_table != NULL) {
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m_table->PutNumber("Value", Get());
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}
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}
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ITable* AnalogPotentiometer::GetTable() {
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return m_table;
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}
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