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.
93 lines
3.2 KiB
C++
93 lines
3.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 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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#include <memory>
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#include "AnalogInput.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "interfaces/Potentiometer.h"
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/**
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* Class for reading analog potentiometers. Analog potentiometers read
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* in an analog voltage that corresponds to a position. The position is
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* in whichever units you choose, by way of the scaling and offset
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* constants passed to the constructor.
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*
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* @author Alex Henning
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* @author Colby Skeggs (rail voltage)
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*/
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class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
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public:
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/**
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* AnalogPotentiometer constructor.
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*
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* Use the fullRange and offset values so that the output produces
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* meaningful values. I.E: you have a 270 degree potentiometer and
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* you want the output to be degrees with the halfway point as 0
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* degrees. The fullRange value is 270.0(degrees) and the offset is
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* -135.0 since the halfway point after scaling is 135 degrees.
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*
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* This will calculate the result from the fullRange times the
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* fraction of the supply voltage, plus the offset.
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*
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* @param channel The analog channel this potentiometer is plugged into.
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* @param fullRange The scaling to multiply the voltage by to get a meaningful
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* unit.
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* @param offset The offset to add to the scaled value for controlling the
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* zero value
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*/
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explicit AnalogPotentiometer(int channel, double fullRange = 1.0,
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double offset = 0.0);
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explicit AnalogPotentiometer(AnalogInput* input, double fullRange = 1.0,
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double offset = 0.0);
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explicit AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
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double fullRange = 1.0, double offset = 0.0);
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virtual ~AnalogPotentiometer() = default;
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/**
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* Get the current reading of the potentiomer.
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*
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* @return The current position of the potentiometer.
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*/
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virtual double Get() const override;
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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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virtual double PIDGet() override;
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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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virtual std::string GetSmartDashboardType() const override;
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virtual void InitTable(std::shared_ptr<ITable> subtable) override;
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virtual void UpdateTable() override;
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virtual std::shared_ptr<ITable> GetTable() const override;
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/**
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* AnalogPotentiometers don't have to do anything special when entering the
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* LiveWindow.
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*/
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virtual void StartLiveWindowMode() override {}
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/**
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* AnalogPotentiometers don't have to do anything special when exiting the
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* LiveWindow.
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*/
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virtual void StopLiveWindowMode() override {}
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private:
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std::shared_ptr<AnalogInput> m_analog_input;
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double m_fullRange, m_offset;
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std::shared_ptr<ITable> m_table;
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};
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