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8d961dfd25
Replace with new exception-based error reporting, consistent with Java. This also builds stacktraces into the reporting/exceptions.
130 lines
3.1 KiB
C++
130 lines
3.1 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <memory>
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#include <hal/Types.h>
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class DigitalSource;
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class AnalogTrigger;
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class DMA;
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class DMASample;
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/**
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* Class to read a duty cycle PWM input.
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*
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* <p>PWM input signals are specified with a frequency and a ratio of high to
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* low in that frequency. There are 8 of these in the roboRIO, and they can be
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* attached to any DigitalSource.
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*
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* <p>These can be combined as the input of an AnalogTrigger to a Counter in
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* order to implement rollover checking.
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*
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*/
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class DutyCycle : public Sendable, public SendableHelper<DutyCycle> {
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friend class AnalogTrigger;
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friend class DMA;
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friend class DMASample;
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public:
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/**
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* Constructs a DutyCycle input from a DigitalSource input.
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*
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* <p> This class does not own the inputted source.
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*
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* @param source The DigitalSource to use.
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*/
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explicit DutyCycle(DigitalSource& source);
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/**
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* Constructs a DutyCycle input from a DigitalSource input.
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*
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* <p> This class does not own the inputted source.
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*
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* @param source The DigitalSource to use.
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*/
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explicit DutyCycle(DigitalSource* source);
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/**
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* Constructs a DutyCycle input from a DigitalSource input.
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*
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* <p> This class does not own the inputted source.
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*
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* @param source The DigitalSource to use.
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*/
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explicit DutyCycle(std::shared_ptr<DigitalSource> source);
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/**
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* Close the DutyCycle and free all resources.
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*/
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~DutyCycle() override;
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DutyCycle(DutyCycle&&) = default;
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DutyCycle& operator=(DutyCycle&&) = default;
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/**
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* Get the frequency of the duty cycle signal.
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*
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* @return frequency in Hertz
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*/
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int GetFrequency() const;
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/**
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* Get the output ratio of the duty cycle signal.
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*
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* <p> 0 means always low, 1 means always high.
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*
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* @return output ratio between 0 and 1
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*/
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double GetOutput() const;
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/**
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* Get the raw output ratio of the duty cycle signal.
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*
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* <p> 0 means always low, an output equal to
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* GetOutputScaleFactor() means always high.
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*
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* @return output ratio in raw units
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*/
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unsigned int GetOutputRaw() const;
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/**
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* Get the scale factor of the output.
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*
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* <p> An output equal to this value is always high, and then linearly scales
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* down to 0. Divide the result of getOutputRaw by this in order to get the
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* percentage between 0 and 1.
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*
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* @return the output scale factor
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*/
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unsigned int GetOutputScaleFactor() const;
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/**
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* Get the FPGA index for the DutyCycle.
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*
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* @return the FPGA index
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*/
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int GetFPGAIndex() const;
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/**
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* Get the channel of the source.
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*
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* @return the source channel
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*/
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int GetSourceChannel() const;
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protected:
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void InitSendable(SendableBuilder& builder) override;
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private:
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void InitDutyCycle();
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std::shared_ptr<DigitalSource> m_source;
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hal::Handle<HAL_DutyCycleHandle> m_handle;
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};
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} // namespace frc
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