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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
91 lines
3.1 KiB
C++
91 lines
3.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef ULTRASONIC_H_
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#define ULTRASONIC_H_
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#include "SensorBase.h"
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#include "Task.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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class Counter;
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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 time
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* of a ping generated by the controller. These sensors use two transducers, a speaker and
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* a microphone both tuned to the ultrasonic range. A common ultrasonic sensor, the Daventech SRF04
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* requires a short pulse to be generated on a digital channel. This causes the chirp to be
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* emmitted. A second line becomes high as the ping is transmitted and goes low when
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* the echo is 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, public PIDSource, public LiveWindowSendable
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{
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public:
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typedef enum {
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kInches = 0,
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kMilliMeters = 1
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} DistanceUnit;
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Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel, DistanceUnit units = kInches);
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Ultrasonic(DigitalOutput &pingChannel, DigitalInput &echoChannel, DistanceUnit units = kInches);
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Ultrasonic(uint32_t pingChannel, uint32_t echoChannel, DistanceUnit units = kInches);
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Ultrasonic(uint8_t pingModuleNumber, uint32_t pingChannel,
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uint8_t echoModuleNumber, uint32_t echoChannel, DistanceUnit units = kInches);
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virtual ~Ultrasonic();
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void Ping();
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bool IsRangeValid();
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static void SetAutomaticMode(bool enabling);
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double GetRangeInches();
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double GetRangeMM();
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bool IsEnabled() { return m_enabled; }
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void SetEnabled(bool enable) { m_enabled = enable; }
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double PIDGet();
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void SetDistanceUnits(DistanceUnit units);
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DistanceUnit GetDistanceUnits();
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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private:
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void Initialize();
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static void UltrasonicChecker();
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static constexpr double kPingTime = 10 * 1e-6; ///< Time (sec) for the ping trigger pulse.
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static const uint32_t kPriority = 90; ///< Priority that the ultrasonic round robin task runs.
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static constexpr double kMaxUltrasonicTime = 0.1; ///< Max time (ms) between readings.
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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 Ultrasonic *m_firstSensor; // head of the ultrasonic sensor list
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static bool m_automaticEnabled; // automatic round robin mode
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static SEMAPHORE_ID m_semaphore; // synchronize access to the list of sensors
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DigitalInput *m_echoChannel;
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DigitalOutput *m_pingChannel;
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bool m_allocatedChannels;
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bool m_enabled;
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Counter *m_counter;
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Ultrasonic *m_nextSensor;
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DistanceUnit m_units;
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ITable *m_table;
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};
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#endif
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