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60 lines
2.8 KiB
C++
60 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "DigitalSource.h"
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class AnalogTrigger;
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/**
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* Class to represent a specific output from an analog trigger.
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* This class is used to get the current output value and also as a DigitalSource
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* to provide routing of an output to digital subsystems on the FPGA such as
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* Counter, Encoder, and Interrupt.
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*
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* The TriggerState output indicates the primary output value of the trigger. If the analog
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* signal is less than the lower limit, the output is false. If the analog value is greater
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* than the upper limit, then the output is true. If the analog value is in between, then
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* the trigger output state maintains its most recent value.
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*
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* The InWindow output indicates whether or not the analog signal is inside the range defined
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* by the limits.
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*
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* The RisingPulse and FallingPulse outputs detect an instantaneous transition from above the
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* upper limit to below the lower limit, and vise versa. These pulses represent a rollover
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* condition of a sensor and can be routed to an up / down couter or to interrupts. Because
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* the outputs generate a pulse, they cannot be read directly. To help ensure that a rollover
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* condition is not missed, there is an average rejection filter available that operates on the
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* upper 8 bits of a 12 bit number and selects the nearest outlyer of 3 samples. This will reject
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* a sample that is (due to averaging or sampling) errantly between the two limits. This filter
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* will fail if more than one sample in a row is errantly in between the two limits. You may see
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* this problem if attempting to use this feature with a mechanical rollover sensor, such as a
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* 360 degree no-stop potentiometer without signal conditioning, because the rollover transition
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* is not sharp / clean enough. Using the averaging engine may help with this, but rotational speeds of
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* the sensor will then be limited.
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*/
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class AnalogTriggerOutput : public DigitalSource
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{
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friend class AnalogTrigger;
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public:
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virtual ~AnalogTriggerOutput();
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bool Get();
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// DigitalSource interface
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virtual uint32_t GetChannelForRouting();
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virtual uint32_t GetModuleForRouting();
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virtual bool GetAnalogTriggerForRouting();
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virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param = NULL); ///< Asynchronus handler version.
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virtual void RequestInterrupts(); ///< Synchronus Wait version.
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protected:
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AnalogTriggerOutput(AnalogTrigger *trigger, AnalogTriggerType outputType);
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private:
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AnalogTrigger *m_trigger;
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AnalogTriggerType m_outputType;
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};
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