mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
90 lines
3.5 KiB
C++
90 lines
3.5 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 "CounterBase.h"
|
|
#include "SensorBase.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
|
|
/**
|
|
* Class for counting the number of ticks on a digital input channel.
|
|
* This is a general purpose class for counting repetitive events. It can return the number
|
|
* of counts, the period of the most recent cycle, and detect when the signal being counted
|
|
* has stopped by supplying a maximum cycle time.
|
|
*/
|
|
class Counter : public SensorBase, public CounterBase, public LiveWindowSendable
|
|
{
|
|
public:
|
|
|
|
Counter();
|
|
explicit Counter(uint32_t channel);
|
|
// TODO: [Not Supported] explicit Counter(DigitalSource *source);
|
|
// TODO: [Not Supported] explicit Counter(DigitalSource &source);
|
|
// TODO: [Not Supported] explicit Counter(AnalogTrigger *source);
|
|
// TODO: [Not Supported] explicit Counter(AnalogTrigger &source);
|
|
// TODO: [Not Supported] Counter(EncodingType encodingType, DigitalSource *upSource, DigitalSource *downSource, bool inverted);
|
|
virtual ~Counter();
|
|
|
|
void SetUpSource(uint32_t channel);
|
|
// TODO: [Not Supported] void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
|
|
// TODO: [Not Supported] void SetUpSource(AnalogTrigger &analogTrigger, AnalogTriggerType triggerType);
|
|
// TODO: [Not Supported] void SetUpSource(DigitalSource *source);
|
|
// TODO: [Not Supported] void SetUpSource(DigitalSource &source);
|
|
void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
|
|
void ClearUpSource();
|
|
|
|
void SetDownSource(uint32_t channel);
|
|
// TODO: [Not Supported] void SetDownSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
|
|
// TODO: [Not Supported] void SetDownSource(AnalogTrigger &analogTrigger, AnalogTriggerType triggerType);
|
|
// TODO: [Not Supported] void SetDownSource(DigitalSource *source);
|
|
// TODO: [Not Supported] void SetDownSource(DigitalSource &source);
|
|
void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
|
|
void ClearDownSource();
|
|
|
|
void SetUpDownCounterMode();
|
|
void SetExternalDirectionMode();
|
|
void SetSemiPeriodMode(bool highSemiPeriod);
|
|
void SetPulseLengthMode(float threshold);
|
|
|
|
void SetReverseDirection(bool reverseDirection);
|
|
|
|
// CounterBase interface
|
|
void Start();
|
|
int32_t Get();
|
|
void Reset();
|
|
void Stop();
|
|
double GetPeriod();
|
|
void SetMaxPeriod(double maxPeriod);
|
|
void SetUpdateWhenEmpty(bool enabled);
|
|
bool GetStopped();
|
|
bool GetDirection();
|
|
void SetSamplesToAverage(int samplesToAverage);
|
|
int GetSamplesToAverage();
|
|
uint32_t GetIndex()
|
|
{
|
|
return m_index;
|
|
}
|
|
|
|
void UpdateTable();
|
|
void StartLiveWindowMode();
|
|
void StopLiveWindowMode();
|
|
virtual std::string GetSmartDashboardType();
|
|
void InitTable(ITable *subTable);
|
|
ITable * GetTable();
|
|
protected:
|
|
// TODO: [Not Supported] DigitalSource *m_upSource; ///< What makes the counter count up.
|
|
// TODO: [Not Supported] DigitalSource *m_downSource; ///< What makes the counter count down.
|
|
void* m_counter; ///< The FPGA counter object.
|
|
private:
|
|
// TODO: [Not Supported] void InitCounter(Mode mode = kTwoPulse);
|
|
|
|
bool m_allocatedUpSource; ///< Was the upSource allocated locally?
|
|
bool m_allocatedDownSource; ///< Was the downSource allocated locally?
|
|
uint32_t m_index; ///< The index of this counter.
|
|
|
|
ITable *m_table;
|
|
};
|