mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-27 02:01:42 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
54 lines
1.7 KiB
C++
54 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 FIRST. 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 <memory>
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#include "Base.h"
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#include "ErrorBase.h"
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#include "SmartDashboard/Sendable.h"
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#include "SmartDashboard/SendableBase.h"
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namespace frc {
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/**
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* Base class for all sensors.
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*
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* Stores most recent status information as well as containing utility functions
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* for checking channels and error processing.
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*/
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class SensorBase : public ErrorBase, public SendableBase {
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public:
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SensorBase() = default;
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SensorBase(const SensorBase&) = delete;
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SensorBase& operator=(const SensorBase&) = delete;
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static int GetDefaultSolenoidModule() { return 0; }
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static bool CheckSolenoidModule(int moduleNumber);
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static bool CheckDigitalChannel(int channel);
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static bool CheckRelayChannel(int channel);
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static bool CheckPWMChannel(int channel);
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static bool CheckAnalogInputChannel(int channel);
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static bool CheckAnalogOutputChannel(int channel);
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static bool CheckSolenoidChannel(int channel);
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static bool CheckPDPChannel(int channel);
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static const int kDigitalChannels;
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static const int kAnalogInputs;
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static const int kAnalogOutputs;
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static const int kSolenoidChannels;
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static const int kSolenoidModules;
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static const int kPwmChannels;
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static const int kRelayChannels;
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static const int kPDPChannels;
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};
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} // namespace frc
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