mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
85 lines
2.8 KiB
C++
85 lines
2.8 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 "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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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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int16_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(uint32_t bits);
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uint32_t GetAverageBits() const;
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void SetOversampleBits(uint32_t bits);
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uint32_t GetOversampleBits() const;
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uint32_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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uint32_t GetAccumulatorCount() const;
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void GetAccumulatorOutput(int64_t& value, uint32_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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void* 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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