mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
107 lines
4.0 KiB
C++
107 lines
4.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "AnalogTrigger.h"
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#include "CounterBase.h"
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#include "HAL/Counter.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "SensorBase.h"
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class DigitalGlitchFilter;
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/**
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* Class for counting the number of ticks on a digital input channel.
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* This is a general purpose class for counting repetitive events. It can return
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* the number of counts, the period of the most recent cycle, and detect when
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* the signal being counted has stopped by supplying a maximum cycle time.
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*
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* All counters 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 Counter : public SensorBase,
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public CounterBase,
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public LiveWindowSendable {
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public:
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explicit Counter(Mode mode = kTwoPulse);
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explicit Counter(int32_t channel);
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explicit Counter(DigitalSource* source);
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explicit Counter(std::shared_ptr<DigitalSource> source);
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DEPRECATED("Use pass-by-reference instead.")
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explicit Counter(AnalogTrigger* trigger);
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explicit Counter(const AnalogTrigger& trigger);
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Counter(EncodingType encodingType, DigitalSource* upSource,
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DigitalSource* downSource, bool inverted);
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Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
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std::shared_ptr<DigitalSource> downSource, bool inverted);
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virtual ~Counter();
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void SetUpSource(int32_t channel);
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void SetUpSource(AnalogTrigger* analogTrigger, AnalogTriggerType triggerType);
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void SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
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AnalogTriggerType triggerType);
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void SetUpSource(DigitalSource* source);
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void SetUpSource(std::shared_ptr<DigitalSource> source);
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void SetUpSource(DigitalSource& source);
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void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
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void ClearUpSource();
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void SetDownSource(int32_t channel);
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void SetDownSource(AnalogTrigger* analogTrigger,
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AnalogTriggerType triggerType);
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void SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
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AnalogTriggerType triggerType);
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void SetDownSource(DigitalSource* source);
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void SetDownSource(std::shared_ptr<DigitalSource> source);
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void SetDownSource(DigitalSource& source);
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void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
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void ClearDownSource();
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void SetUpDownCounterMode();
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void SetExternalDirectionMode();
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void SetSemiPeriodMode(bool highSemiPeriod);
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void SetPulseLengthMode(float threshold);
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void SetReverseDirection(bool reverseDirection);
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// CounterBase interface
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int32_t Get() const override;
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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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void SetUpdateWhenEmpty(bool enabled);
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bool GetStopped() const override;
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bool GetDirection() const override;
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage() const;
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uint32_t GetFPGAIndex() const { return m_index; }
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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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virtual 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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protected:
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// Makes the counter count up.
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std::shared_ptr<DigitalSource> m_upSource;
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// Makes the counter count down.
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std::shared_ptr<DigitalSource> m_downSource;
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// The FPGA counter object
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void* m_counter = nullptr; ///< The FPGA counter object.
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private:
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uint32_t m_index = 0; ///< The index of this counter.
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std::shared_ptr<ITable> m_table;
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friend class DigitalGlitchFilter;
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};
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