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https://github.com/wpilibsuite/allwpilib
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77 lines
2.6 KiB
C++
77 lines
2.6 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 <memory>
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#include "AnalogInput.h"
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#include "SensorBase.h"
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#include "interfaces/Potentiometer.h"
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namespace frc {
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/**
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* Class for reading analog potentiometers. Analog potentiometers read in an
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* analog voltage that corresponds to a position. The position is in whichever
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* units you choose, by way of the scaling and offset constants passed to the
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* constructor.
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*/
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class AnalogPotentiometer : public SensorBase, public Potentiometer {
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public:
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/**
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* AnalogPotentiometer constructor.
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*
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* Use the fullRange and offset values so that the output produces meaningful
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* values. I.E: you have a 270 degree potentiometer and you want the output to
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* be degrees with the halfway point as 0 degrees. The fullRange value is
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* 270.0 degrees and the offset is -135.0 since the halfway point after
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* scaling is 135 degrees.
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*
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* This will calculate the result from the fullRange times the fraction of the
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* supply voltage, plus the offset.
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*
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* @param channel The analog channel this potentiometer is plugged into.
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* @param fullRange The scaling to multiply the voltage by to get a meaningful
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* unit.
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* @param offset The offset to add to the scaled value for controlling the
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* zero value.
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*/
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explicit AnalogPotentiometer(int channel, double fullRange = 1.0,
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double offset = 0.0);
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explicit AnalogPotentiometer(AnalogInput* input, double fullRange = 1.0,
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double offset = 0.0);
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explicit AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
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double fullRange = 1.0, double offset = 0.0);
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~AnalogPotentiometer() override = default;
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/**
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* Get the current reading of the potentiomer.
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*
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* @return The current position of the potentiometer.
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*/
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double Get() const override;
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/**
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* Implement the PIDSource interface.
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*
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* @return The current reading.
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*/
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double PIDGet() override;
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void InitSendable(SendableBuilder& builder) override;
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private:
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std::shared_ptr<AnalogInput> m_analog_input;
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double m_fullRange, m_offset;
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};
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} // namespace frc
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