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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.
98 lines
3.5 KiB
C++
98 lines
3.5 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 <atomic>
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#include <memory>
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#include <set>
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#include "Counter.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 "Task.h"
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class DigitalInput;
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class DigitalOutput;
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/**
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* Ultrasonic rangefinder class.
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* The Ultrasonic rangefinder measures absolute distance based on the round-trip
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* time of a ping generated by the controller. These sensors use two
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* transducers, a speaker and a microphone both tuned to the ultrasonic range. A
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* common ultrasonic sensor, the Daventech SRF04 requires a short pulse to be
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* generated on a digital channel. This causes the chirp to be emitted. A second
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* line becomes high as the ping is transmitted and goes low when the echo is
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* received. The time that the line is high determines the round trip distance
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* (time of flight).
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*/
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class Ultrasonic : public SensorBase,
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public PIDSource,
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public LiveWindowSendable {
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public:
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enum DistanceUnit { kInches = 0, kMilliMeters = 1 };
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Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel,
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DistanceUnit units = kInches);
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Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel,
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DistanceUnit units = kInches);
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Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
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std::shared_ptr<DigitalInput> echoChannel,
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DistanceUnit units = kInches);
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Ultrasonic(uint32_t pingChannel, uint32_t echoChannel,
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DistanceUnit units = kInches);
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virtual ~Ultrasonic();
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void Ping();
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bool IsRangeValid() const;
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static void SetAutomaticMode(bool enabling);
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double GetRangeInches() const;
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double GetRangeMM() const;
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bool IsEnabled() const { return m_enabled; }
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void SetEnabled(bool enable) { m_enabled = enable; }
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double PIDGet() override;
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void SetPIDSourceType(PIDSourceType pidSource) override;
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void SetDistanceUnits(DistanceUnit units);
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DistanceUnit GetDistanceUnits() const;
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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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private:
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void Initialize();
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static void UltrasonicChecker();
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// Time (sec) for the ping trigger pulse.
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static constexpr double kPingTime = 10 * 1e-6;
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// Priority that the ultrasonic round robin task runs.
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static const uint32_t kPriority = 64;
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// Max time (ms) between readings.
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static constexpr double kMaxUltrasonicTime = 0.1;
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static constexpr double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
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static Task m_task; // task doing the round-robin automatic sensing
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static std::set<Ultrasonic*> m_sensors; // ultrasonic sensors
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static std::atomic<bool> m_automaticEnabled; // automatic round robin mode
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std::shared_ptr<DigitalOutput> m_pingChannel;
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std::shared_ptr<DigitalInput> m_echoChannel;
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bool m_enabled = false;
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Counter m_counter;
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DistanceUnit m_units;
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std::shared_ptr<ITable> m_table;
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};
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