mirror of
https://github.com/wpilibsuite/allwpilib
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e71f454b9d
Rename the following folders: hal/lib/Athena -> hal/lib/athena hal/lib/Desktop -> hal/lib/sim hal/lib/Shared -> hal/lib/shared wpilibc/Athena -> wpilibc/athena wpilibc/simulation -> wpilibc/sim Windows users may need to run gradlew clean after updating.
98 lines
3.8 KiB
C++
98 lines
3.8 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 <cstdint>
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#include <memory>
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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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#include "simulation/SimEncoder.h"
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/**
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* Class to read quad encoders.
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*
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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
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* forward movement generates negative values. Quadrature encoders have two
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* digital outputs, an A Channel and a B Channel that are out of phase with
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* each other 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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Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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// TODO: [Not Supported] Encoder(DigitalSource *aSource, DigitalSource
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// *bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
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// TODO: [Not Supported] Encoder(DigitalSource &aSource, DigitalSource
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// &bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
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virtual ~Encoder() = default;
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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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void SetPIDSourceType(PIDSourceType pidSource);
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double PIDGet() override;
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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 FPGAEncoderIndex() const { return 0; }
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private:
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void InitEncoder(int channelA, int channelB, bool _reverseDirection,
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EncodingType encodingType);
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double DecodingScaleFactor() const;
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// the A phase of the quad encoder
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// TODO: [Not Supported] DigitalSource *m_aSource;
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// the B phase of the quad encoder
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// TODO: [Not Supported] DigitalSource *m_bSource;
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// was the A source allocated locally?
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// TODO: [Not Supported] bool m_allocatedASource;
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// was the B source allocated locally?
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// TODO: [Not Supported] bool m_allocatedBSource;
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int channelA, channelB;
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double m_distancePerPulse; // distance of travel for each encoder tick
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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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bool m_reverseDirection;
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SimEncoder* impl;
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std::shared_ptr<ITable> m_table;
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};
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