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.
110 lines
4.3 KiB
C++
110 lines
4.3 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 "Counter.h"
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#include "CounterBase.h"
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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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class DigitalSource;
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class DigitalGlitchFilter;
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/**
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* Class to read quad encoders.
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* Quadrature encoders are devices that count shaft rotation and can sense
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* direction. The output of the QuadEncoder class is an integer that can count
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* either up or down, and can go negative for reverse direction counting. When
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* creating QuadEncoders, a direction is supplied that changes the sense of the
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* output to make code more readable if the encoder is mounted such that forward
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* movement generates negative values. Quadrature encoders have two digital
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* outputs, an A Channel and a B Channel that are out of phase with each other
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* to allow the FPGA to do direction sensing.
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*
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* All encoders will immediately start counting - Reset() them if you need them
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* to be zeroed before use.
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*/
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class Encoder : public SensorBase,
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public CounterBase,
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public PIDSource,
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public LiveWindowSendable {
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public:
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enum IndexingType {
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kResetWhileHigh,
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kResetWhileLow,
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kResetOnFallingEdge,
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kResetOnRisingEdge
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};
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Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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Encoder(std::shared_ptr<DigitalSource> aSource,
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std::shared_ptr<DigitalSource> bSource, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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Encoder(DigitalSource* aSource, DigitalSource* bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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Encoder(DigitalSource& aSource, DigitalSource& bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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virtual ~Encoder();
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// CounterBase interface
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int32_t Get() const override;
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int32_t GetRaw() const;
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int32_t GetEncodingScale() const;
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void Reset() override;
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double GetPeriod() const override;
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void SetMaxPeriod(double maxPeriod) override;
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bool GetStopped() const override;
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bool GetDirection() const override;
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double GetDistance() const;
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double GetRate() const;
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void SetMinRate(double minRate);
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void SetDistancePerPulse(double distancePerPulse);
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void SetReverseDirection(bool reverseDirection);
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage() const;
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double PIDGet() override;
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void SetIndexSource(uint32_t channel, IndexingType type = kResetOnRisingEdge);
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DEPRECATED("Use pass-by-reference instead.")
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void SetIndexSource(DigitalSource* source,
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IndexingType type = kResetOnRisingEdge);
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void SetIndexSource(const DigitalSource& source,
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IndexingType type = kResetOnRisingEdge);
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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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int32_t GetFPGAIndex() const { return m_index; }
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private:
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void InitEncoder(bool _reverseDirection, EncodingType encodingType);
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double DecodingScaleFactor() const;
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std::shared_ptr<DigitalSource> m_aSource; // the A phase of the quad encoder
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std::shared_ptr<DigitalSource> m_bSource; // the B phase of the quad encoder
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void* m_encoder = nullptr;
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int32_t m_index = 0; // The encoder's FPGA index.
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double m_distancePerPulse = 1.0; // distance of travel for each encoder tick
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std::unique_ptr<Counter> m_counter =
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nullptr; // Counter object for 1x and 2x encoding
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EncodingType m_encodingType; // Encoding type
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int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
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std::shared_ptr<ITable> m_table;
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friend class DigitalGlitchFilter;
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};
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