115 lines
4.3 KiB
C
115 lines
4.3 KiB
C
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/*----------------------------------------------------------------------------*/
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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 "HAL/HAL.hpp"
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#include "CounterBase.h"
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#include "SensorBase.h"
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#include "Counter.h"
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#include "PIDSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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class DigitalSource;
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class DigitalGlitchFilter;
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/**
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* Class to read quad encoders.
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* Quadrature encoders are devices that count shaft rotation and can sense
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* direction. The output of
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* the QuadEncoder class is an integer that can count either up or down, and can
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* go negative for
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* reverse direction counting. When creating QuadEncoders, a direction is
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* supplied that changes the
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* sense of the output to make code more readable if the encoder is mounted such
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* that forward movement
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* generates negative values. Quadrature encoders have two digital outputs, an A
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* Channel and a B Channel
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* that are out of phase with each other to allow the FPGA to do direction
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* sensing.
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*
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* All encoders 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 Encoder : public SensorBase,
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public CounterBase,
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public PIDSource,
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public LiveWindowSendable {
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public:
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enum IndexingType {
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kResetWhileHigh,
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kResetWhileLow,
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kResetOnFallingEdge,
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kResetOnRisingEdge
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};
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Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
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EncodingType encodingType = k4X);
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Encoder(std::shared_ptr<DigitalSource> aSource,
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std::shared_ptr<DigitalSource> bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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Encoder(DigitalSource *aSource, DigitalSource *bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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Encoder(DigitalSource &aSource, DigitalSource &bSource,
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bool reverseDirection = false, EncodingType encodingType = k4X);
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virtual ~Encoder();
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// CounterBase interface
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int32_t Get() const override;
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int32_t GetRaw() const;
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int32_t GetEncodingScale() const;
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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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bool GetStopped() const override;
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bool GetDirection() const override;
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double GetDistance() const;
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double GetRate() const;
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void SetMinRate(double minRate);
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void SetDistancePerPulse(double distancePerPulse);
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void SetReverseDirection(bool reverseDirection);
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void SetSamplesToAverage(int samplesToAverage);
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int GetSamplesToAverage() const;
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double PIDGet() override;
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void SetIndexSource(uint32_t channel, IndexingType type = kResetOnRisingEdge);
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DEPRECATED("Use pass-by-reference instead.")
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void SetIndexSource(DigitalSource *source,
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IndexingType type = kResetOnRisingEdge);
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void SetIndexSource(const DigitalSource &source,
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IndexingType type = kResetOnRisingEdge);
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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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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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int32_t GetFPGAIndex() const { return m_index; }
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private:
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void InitEncoder(bool _reverseDirection, EncodingType encodingType);
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double DecodingScaleFactor() const;
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std::shared_ptr<DigitalSource> m_aSource; // the A phase of the quad encoder
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std::shared_ptr<DigitalSource> m_bSource; // the B phase of the quad encoder
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void *m_encoder = nullptr;
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int32_t m_index = 0; // The encoder's FPGA index.
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double m_distancePerPulse = 1.0; // distance of travel for each encoder tick
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std::unique_ptr<Counter> m_counter =
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nullptr; // Counter object for 1x and 2x encoding
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EncodingType m_encodingType; // Encoding type
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int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
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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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