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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
93 lines
3.1 KiB
C++
93 lines
3.1 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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#pragma once
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#include "AnalogInput.h"
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#include "interfaces/Potentiometer.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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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. Usually the
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* position is either degrees or meters. However, if no conversion is
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* given it remains volts.
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*
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* @author Alex Henning
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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 scaling 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 scale value is 270.0(degrees)/5.0(volts) and the
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* offset is -135.0 since the halfway point after scaling is 135
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* degrees.
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*
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* @param channel The analog channel this potentiometer is plugged into.
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* @param scale The scaling to multiply the voltage by to get a meaningful unit.
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* @param offset The offset to add to the scaled value for controlling the zero value
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*/
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AnalogPotentiometer(int channel, double scale = 1.0, double offset = 0.0);
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AnalogPotentiometer(AnalogInput *input, double scale = 1.0, double offset = 0.0);
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AnalogPotentiometer(AnalogInput &input, double scale = 1.0, double offset = 0.0);
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virtual ~AnalogPotentiometer();
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/**
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* Get the current reading of the potentiomere.
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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;
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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 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 LiveWindow.
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*/
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virtual void StopLiveWindowMode() override {}
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private:
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double m_scale, m_offset;
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AnalogInput* m_analog_input;
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std::shared_ptr<ITable> m_table;
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bool m_init_analog_input;
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/**
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* Common initialization code called by all constructors.
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*/
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void initPot(AnalogInput *input, double scale, double offset);
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};
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