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https://github.com/wpilibsuite/allwpilib
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f65e697107
I'm not 100% sure whether we want these, but they are a quick find and replace to do. Basically, there are two primary things that we have done this summer that break existing user code: -Changing GetInstance() calls to return references instead of pointers. This forces users to change from doing something like LiveWindow::GetInstance()->AddSensor() to LiveWindow::GetInstance().AddSensor(). -Making PIDGet() and related calls const, forcing users to change the function signatures wherever they override them. The GetInstance() calls don't really matter to me either way, especially since there are no real ownership issues going on there, unlike the rest of the smart pointer-related changes. For the const stuff, it is certainly more correct to mandate that user PIDGet() functions be const and the such, but at the same time, I'm not sure that there is any strong need for it, and the errors generated are not the most helpful. While this wouldn't necessarily be an issue for more experienced teams or completely new teams (who don't have any old code to be reusing), it may cause issues for more average teams who aren't familiar with the intricacies of C++ anything. Change-Id: I6e7007982069292ea70e6d0fc8ca40203340df1b
88 lines
3.6 KiB
C++
88 lines
3.6 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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#pragma once
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#include "simulation/SimEncoder.h"
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#include "CounterBase.h"
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#include "SensorBase.h"
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#include "Counter.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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/**
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* Class to read quad encoders.
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* Quadrature encoders are devices that count shaft rotation and can sense direction. The output of
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* the QuadEncoder class is an integer that can count either up or down, and can go negative for
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* reverse direction counting. When creating QuadEncoders, a direction is supplied that changes the
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* sense of the output to make code more readable if the encoder is mounted such that forward movement
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* generates negative values. Quadrature encoders have two digital outputs, an A Channel and a B Channel
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* that are out of phase with each other to allow the FPGA to do direction sensing.
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*
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* All encoders will immediately start counting - Reset() them if you need them
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* to be zeroed before use.
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*/
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class Encoder : public SensorBase, public CounterBase, public PIDSource, public LiveWindowSendable
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{
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public:
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Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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// TODO: [Not Supported] Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
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// TODO: [Not Supported] Encoder(DigitalSource &aSource, DigitalSource &bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
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virtual ~Encoder() = default;
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// CounterBase interface
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int32_t Get() const override;
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int32_t GetRaw() const;
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int32_t GetEncodingScale() const;
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void Reset() override;
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double GetPeriod() const override;
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void SetMaxPeriod(double maxPeriod) override;
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bool GetStopped() const override;
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bool GetDirection() const override;
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double GetDistance() const;
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double GetRate() const;
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void SetMinRate(double minRate);
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void SetDistancePerPulse(double distancePerPulse);
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void SetReverseDirection(bool reverseDirection);
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage() const;
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void SetPIDSourceType(PIDSourceType pidSource);
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double PIDGet() override;
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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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int32_t FPGAEncoderIndex() const
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{
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return 0;
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}
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private:
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void InitEncoder(int channelA, int channelB, bool _reverseDirection, EncodingType encodingType);
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double DecodingScaleFactor() const;
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// TODO: [Not Supported] DigitalSource *m_aSource; // the A phase of the quad encoder
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// TODO: [Not Supported] DigitalSource *m_bSource; // the B phase of the quad encoder
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// TODO: [Not Supported] bool m_allocatedASource; // was the A source allocated locally?
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// TODO: [Not Supported] bool m_allocatedBSource; // was the B source allocated locally?
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int channelA, channelB;
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double m_distancePerPulse; // distance of travel for each encoder tick
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EncodingType m_encodingType; // Encoding type
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int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
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bool m_reverseDirection;
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SimEncoder* impl;
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std::shared_ptr<ITable> m_table;
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};
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