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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
111 lines
3.0 KiB
C++
111 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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 "AnalogOutput.h"
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#include "Resource.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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#include "HAL/Port.h"
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#include <limits>
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#include <sstream>
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static std::unique_ptr<Resource> outputs;
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/**
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* Construct an analog output on the given channel.
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* All analog outputs are located on the MXP port.
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* @param The channel number on the roboRIO to represent.
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*/
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AnalogOutput::AnalogOutput(uint32_t channel) {
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Resource::CreateResourceObject(outputs, kAnalogOutputs);
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std::stringstream buf;
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buf << "analog input " << channel;
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if (!checkAnalogOutputChannel(channel)) {
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
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m_channel = std::numeric_limits<uint32_t>::max();
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m_port = nullptr;
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return;
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}
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if (outputs->Allocate(channel, buf.str()) ==
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std::numeric_limits<uint32_t>::max()) {
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CloneError(*outputs);
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m_channel = std::numeric_limits<uint32_t>::max();
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m_port = nullptr;
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return;
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}
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m_channel = channel;
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void* port = getPort(m_channel);
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int32_t status = 0;
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m_port = initializeAnalogOutputPort(port, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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freePort(port);
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LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
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HALReport(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
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}
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/**
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* Destructor. Frees analog output resource
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*/
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AnalogOutput::~AnalogOutput() {
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freeAnalogOutputPort(m_port);
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outputs->Free(m_channel);
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}
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/**
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* Set the value of the analog output
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*
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* @param voltage The output value in Volts, from 0.0 to +5.0
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*/
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void AnalogOutput::SetVoltage(float voltage) {
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int32_t status = 0;
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setAnalogOutput(m_port, voltage, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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/**
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* Get the voltage of the analog output
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*
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* @return The value in Volts, from 0.0 to +5.0
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*/
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float AnalogOutput::GetVoltage() const {
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int32_t status = 0;
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float voltage = getAnalogOutput(m_port, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return voltage;
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}
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void AnalogOutput::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutNumber("Value", GetVoltage());
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}
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}
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void AnalogOutput::StartLiveWindowMode() {}
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void AnalogOutput::StopLiveWindowMode() {}
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std::string AnalogOutput::GetSmartDashboardType() const {
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return "Analog Output";
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}
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void AnalogOutput::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> AnalogOutput::GetTable() const { return m_table; }
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