This repository has been archived on 2020-09-21. You can view files and clone it, but cannot push or open issues or pull requests.
FRC2016-old/DriveBase/wpilib/cpp/current/include/AnalogPotentiometer.h

93 lines
3.2 KiB
C
Raw Normal View History

2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 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. */
/*----------------------------------------------------------------------------*/
#include "AnalogInput.h"
#include "interfaces/Potentiometer.h"
#include "LiveWindow/LiveWindowSendable.h"
#include <memory>
/**
* Class for reading analog potentiometers. Analog potentiometers read
* in an analog voltage that corresponds to a position. The position is
* in whichever units you choose, by way of the scaling and offset
* constants passed to the constructor.
*
* @author Alex Henning
* @author Colby Skeggs (rail voltage)
*/
class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
public:
/**
* AnalogPotentiometer constructor.
*
* Use the fullRange and offset values so that the output produces
* meaningful values. I.E: you have a 270 degree potentiometer and
* you want the output to be degrees with the halfway point as 0
* degrees. The fullRange value is 270.0(degrees) and the offset is
* -135.0 since the halfway point after scaling is 135 degrees.
*
* This will calculate the result from the fullRange times the
* fraction of the supply voltage, plus the offset.
*
* @param channel The analog channel this potentiometer is plugged into.
* @param fullRange The scaling to multiply the voltage by to get a meaningful
* unit.
* @param offset The offset to add to the scaled value for controlling the
* zero value
*/
explicit AnalogPotentiometer(int channel, double fullRange = 1.0,
double offset = 0.0);
explicit AnalogPotentiometer(AnalogInput *input, double fullRange = 1.0,
double offset = 0.0);
explicit AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
double fullRange = 1.0, double offset = 0.0);
virtual ~AnalogPotentiometer() = default;
/**
* Get the current reading of the potentiomer.
*
* @return The current position of the potentiometer.
*/
virtual double Get() const override;
/**
* Implement the PIDSource interface.
*
* @return The current reading.
*/
virtual double PIDGet() override;
/*
* Live Window code, only does anything if live window is activated.
*/
virtual std::string GetSmartDashboardType() const override;
virtual void InitTable(std::shared_ptr<ITable> subtable) override;
virtual void UpdateTable() override;
virtual std::shared_ptr<ITable> GetTable() const override;
/**
* AnalogPotentiometers don't have to do anything special when entering the
* LiveWindow.
*/
virtual void StartLiveWindowMode() override {}
/**
* AnalogPotentiometers don't have to do anything special when exiting the
* LiveWindow.
*/
virtual void StopLiveWindowMode() override {}
private:
std::shared_ptr<AnalogInput> m_analog_input;
double m_fullRange, m_offset;
std::shared_ptr<ITable> m_table;
};