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FRC2016-old/wpilib/cpp/current/include/AnalogInput.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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 the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "HAL/HAL.hpp"
#include "SensorBase.h"
#include "PIDSource.h"
#include "LiveWindow/LiveWindowSendable.h"
#include <memory>
/**
* Analog input class.
*
* Connected to each analog channel is an averaging and oversampling engine.
* This engine accumulates
* the specified ( by SetAverageBits() and SetOversampleBits() ) number of
* samples before returning a new
* value. This is not a sliding window average. The only difference between
* the oversampled samples and
* the averaged samples is that the oversampled samples are simply accumulated
* effectively increasing the
* resolution, while the averaged samples are divided by the number of samples
* to retain the resolution,
* but get more stable values.
*/
class AnalogInput : public SensorBase,
public PIDSource,
public LiveWindowSendable {
public:
static const uint8_t kAccumulatorModuleNumber = 1;
static const uint32_t kAccumulatorNumChannels = 2;
static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels];
explicit AnalogInput(uint32_t channel);
virtual ~AnalogInput();
int16_t GetValue() const;
int32_t GetAverageValue() const;
float GetVoltage() const;
float GetAverageVoltage() const;
uint32_t GetChannel() const;
void SetAverageBits(uint32_t bits);
uint32_t GetAverageBits() const;
void SetOversampleBits(uint32_t bits);
uint32_t GetOversampleBits() const;
uint32_t GetLSBWeight() const;
int32_t GetOffset() const;
bool IsAccumulatorChannel() const;
void InitAccumulator();
void SetAccumulatorInitialValue(int64_t value);
void ResetAccumulator();
void SetAccumulatorCenter(int32_t center);
void SetAccumulatorDeadband(int32_t deadband);
int64_t GetAccumulatorValue() const;
uint32_t GetAccumulatorCount() const;
void GetAccumulatorOutput(int64_t &value, uint32_t &count) const;
static void SetSampleRate(float samplesPerSecond);
static float GetSampleRate();
double PIDGet() override;
void UpdateTable() override;
void StartLiveWindowMode() override;
void StopLiveWindowMode() override;
std::string GetSmartDashboardType() const override;
void InitTable(std::shared_ptr<ITable> subTable) override;
std::shared_ptr<ITable> GetTable() const override;
private:
uint32_t m_channel;
//TODO: Adjust HAL to avoid use of raw pointers.
void *m_port;
int64_t m_accumulatorOffset;
std::shared_ptr<ITable> m_table;
};