mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
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.
70 lines
2.4 KiB
C++
70 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "AnalogTriggerOutput.h"
|
|
#include "AnalogTrigger.h"
|
|
#include "HAL/HAL.h"
|
|
#include "WPIErrors.h"
|
|
|
|
/**
|
|
* Create an object that represents one of the four outputs from an analog
|
|
* trigger.
|
|
*
|
|
* Because this class derives from DigitalSource, it can be passed into routing
|
|
* functions for Counter, Encoder, etc.
|
|
*
|
|
* @param trigger A pointer to the trigger for which this is an output.
|
|
* @param outputType An enum that specifies the output on the trigger to
|
|
* represent.
|
|
*/
|
|
AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger,
|
|
AnalogTriggerType outputType)
|
|
: m_trigger(trigger), m_outputType(outputType) {
|
|
HALReport(HALUsageReporting::kResourceType_AnalogTriggerOutput,
|
|
trigger.GetIndex(), outputType);
|
|
}
|
|
|
|
AnalogTriggerOutput::~AnalogTriggerOutput() {
|
|
if (m_interrupt != nullptr) {
|
|
int32_t status = 0;
|
|
cleanInterrupts(m_interrupt, &status);
|
|
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
|
m_interrupt = nullptr;
|
|
m_interrupts->Free(m_interruptIndex);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Get the state of the analog trigger output.
|
|
*
|
|
* @return The state of the analog trigger output.
|
|
*/
|
|
bool AnalogTriggerOutput::Get() const {
|
|
int32_t status = 0;
|
|
bool result =
|
|
getAnalogTriggerOutput(m_trigger.m_trigger, m_outputType, &status);
|
|
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
|
return result;
|
|
}
|
|
|
|
/**
|
|
* @return The value to be written to the channel field of a routing mux.
|
|
*/
|
|
uint32_t AnalogTriggerOutput::GetChannelForRouting() const {
|
|
return (m_trigger.m_index << 2) + m_outputType;
|
|
}
|
|
|
|
/**
|
|
* @return The value to be written to the module field of a routing mux.
|
|
*/
|
|
uint32_t AnalogTriggerOutput::GetModuleForRouting() const { return 0; }
|
|
|
|
/**
|
|
* @return The value to be written to the module field of a routing mux.
|
|
*/
|
|
bool AnalogTriggerOutput::GetAnalogTriggerForRouting() const { return true; }
|