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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
79 lines
2.7 KiB
C++
79 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2016-2018 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 <stdint.h>
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#include "hal/Encoder.h"
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namespace hal {
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class Encoder {
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public:
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Encoder(HAL_Handle digitalSourceHandleA,
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HAL_AnalogTriggerType analogTriggerTypeA,
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HAL_Handle digitalSourceHandleB,
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HAL_AnalogTriggerType analogTriggerTypeB, bool reverseDirection,
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HAL_EncoderEncodingType encodingType, int32_t* status);
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~Encoder();
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// CounterBase interface
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int32_t Get(int32_t* status) const;
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int32_t GetRaw(int32_t* status) const;
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int32_t GetEncodingScale(int32_t* status) const;
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void Reset(int32_t* status);
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double GetPeriod(int32_t* status) const;
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void SetMaxPeriod(double maxPeriod, int32_t* status);
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bool GetStopped(int32_t* status) const;
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bool GetDirection(int32_t* status) const;
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double GetDistance(int32_t* status) const;
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double GetRate(int32_t* status) const;
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void SetMinRate(double minRate, int32_t* status);
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void SetDistancePerPulse(double distancePerPulse, int32_t* status);
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void SetReverseDirection(bool reverseDirection, int32_t* status);
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void SetSamplesToAverage(int32_t samplesToAverage, int32_t* status);
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int32_t GetSamplesToAverage(int32_t* status) const;
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void SetIndexSource(HAL_Handle digitalSourceHandle,
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HAL_AnalogTriggerType analogTriggerType,
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HAL_EncoderIndexingType type, int32_t* status);
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int32_t GetFPGAIndex() const { return m_index; }
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int32_t GetEncodingScale() const { return m_encodingScale; }
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double DecodingScaleFactor() const;
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double GetDistancePerPulse() const { return m_distancePerPulse; }
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HAL_EncoderEncodingType GetEncodingType() const { return m_encodingType; }
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private:
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void SetupCounter(HAL_Handle digitalSourceHandleA,
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HAL_AnalogTriggerType analogTriggerTypeA,
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HAL_Handle digitalSourceHandleB,
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HAL_AnalogTriggerType analogTriggerTypeB,
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bool reverseDirection, HAL_EncoderEncodingType encodingType,
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int32_t* status);
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HAL_FPGAEncoderHandle m_encoder = HAL_kInvalidHandle;
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HAL_CounterHandle m_counter = HAL_kInvalidHandle;
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int32_t m_index = 0;
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double m_distancePerPulse = 1.0;
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HAL_EncoderEncodingType m_encodingType;
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int32_t m_encodingScale;
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};
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} // namespace hal
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