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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.
67 lines
3.1 KiB
C++
67 lines
3.1 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 "DigitalSource.h"
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#include "HAL/AnalogTrigger.h"
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class AnalogTrigger;
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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
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* DigitalSource to provide routing of an output to digital subsystems on the
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* FPGA such as Counter, Encoder, and Interrupt.
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*
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* The TriggerState output indicates the primary output value of the trigger.
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* If the analog signal is less than the lower limit, the output is false. If
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* the analog value is greater than the upper limit, then the output is true.
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* If the analog value is in between, then the trigger output state maintains
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* 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
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* range defined by the limits.
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*
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* The RisingPulse and FallingPulse outputs detect an instantaneous transition
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* from above the upper limit to below the lower limit, and vise versa. These
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* pulses represent a rollover condition of a sensor and can be routed to an up
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* / down couter or to interrupts. Because the outputs generate a pulse, they
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* cannot be read directly. To help ensure that a rollover condition is not
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* 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.
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* This will reject a sample that is (due to averaging or sampling) errantly
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* between the two limits. This filter will fail if more than one sample in a
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* row is errantly in between the two limits. You may see this problem if
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* 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
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* rollover transition is not sharp / clean enough. Using the averaging engine
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* may help with this, but rotational speeds of the sensor will then be limited.
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*/
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class AnalogTriggerOutput : public DigitalSource {
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friend class AnalogTrigger;
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public:
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virtual ~AnalogTriggerOutput();
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bool Get() const;
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// DigitalSource interface
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virtual uint32_t GetChannelForRouting() const override;
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virtual uint32_t GetModuleForRouting() const override;
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virtual bool GetAnalogTriggerForRouting() const override;
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protected:
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AnalogTriggerOutput(const AnalogTrigger& trigger,
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AnalogTriggerType outputType);
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private:
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// Uses reference rather than smart pointer because a user can not construct
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// an AnalogTriggerOutput themselves and because the AnalogTriggerOutput
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// should always be in scope at the same time as an AnalogTrigger.
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const AnalogTrigger& m_trigger;
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AnalogTriggerType m_outputType;
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};
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