mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
fb7f5e9de8
Change-Id: Iaa4062ec124b968b27e7c812cc754032fcb354d2 Add methods to retrieve the FPGA index for counters and encoders and return the encoding type as an integer Change-Id: If04dc291f39a9b331495d2b97a8b87d3ded71280
90 lines
3.3 KiB
C++
90 lines
3.3 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "HAL/HAL.hpp"
|
|
#include "CounterBase.h"
|
|
#include "SensorBase.h"
|
|
#include "Counter.h"
|
|
#include "PIDSource.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
|
|
class DigitalSource;
|
|
|
|
/**
|
|
* Class to read quad encoders.
|
|
* Quadrature encoders are devices that count shaft rotation and can sense direction. The output of
|
|
* the QuadEncoder class is an integer that can count either up or down, and can go negative for
|
|
* reverse direction counting. When creating QuadEncoders, a direction is supplied that changes the
|
|
* sense of the output to make code more readable if the encoder is mounted such that forward movement
|
|
* generates negative values. Quadrature encoders have two digital outputs, an A Channel and a B Channel
|
|
* that are out of phase with each other to allow the FPGA to do direction sensing.
|
|
*
|
|
* All encoders will immediately start counting - Reset() them if you need them
|
|
* to be zeroed before use.
|
|
*/
|
|
class Encoder : public SensorBase, public CounterBase, public PIDSource, public LiveWindowSendable
|
|
{
|
|
public:
|
|
|
|
Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
|
|
EncodingType encodingType = k4X);
|
|
Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDirection = false,
|
|
EncodingType encodingType = k4X);
|
|
Encoder(DigitalSource &aSource, DigitalSource &bSource, bool reverseDirection = false,
|
|
EncodingType encodingType = k4X);
|
|
virtual ~Encoder();
|
|
|
|
// CounterBase interface
|
|
int32_t Get();
|
|
int32_t GetRaw();
|
|
int32_t GetEncodingScale();
|
|
void Reset();
|
|
double GetPeriod();
|
|
void SetMaxPeriod(double maxPeriod);
|
|
bool GetStopped();
|
|
bool GetDirection();
|
|
double GetDistance();
|
|
double GetRate();
|
|
void SetMinRate(double minRate);
|
|
void SetDistancePerPulse(double distancePerPulse);
|
|
void SetReverseDirection(bool reverseDirection);
|
|
void SetSamplesToAverage(int samplesToAverage);
|
|
int GetSamplesToAverage();
|
|
void SetPIDSourceParameter(PIDSourceParameter pidSource);
|
|
double PIDGet();
|
|
|
|
void UpdateTable();
|
|
void StartLiveWindowMode();
|
|
void StopLiveWindowMode();
|
|
std::string GetSmartDashboardType();
|
|
void InitTable(ITable *subTable);
|
|
ITable * GetTable();
|
|
|
|
int32_t GetFPGAIndex()
|
|
{
|
|
return m_index;
|
|
}
|
|
|
|
private:
|
|
void InitEncoder(bool _reverseDirection, EncodingType encodingType);
|
|
double DecodingScaleFactor();
|
|
|
|
DigitalSource *m_aSource; // the A phase of the quad encoder
|
|
DigitalSource *m_bSource; // the B phase of the quad encoder
|
|
bool m_allocatedASource; // was the A source allocated locally?
|
|
bool m_allocatedBSource; // was the B source allocated locally?
|
|
void* m_encoder;
|
|
int32_t m_index; // The encoder's FPGA index.
|
|
double m_distancePerPulse; // distance of travel for each encoder tick
|
|
Counter *m_counter; // Counter object for 1x and 2x encoding
|
|
EncodingType m_encodingType; // Encoding type
|
|
int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
|
|
PIDSourceParameter m_pidSource; // Encoder parameter that sources a PID controller
|
|
|
|
ITable *m_table;
|
|
};
|