Initial Commit
This commit is contained in:
Jason
parent
3df7e9b128
commit
d265820037
283
DriveBase/.cproject
Normal file
283
DriveBase/.cproject
Normal file
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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<listOptionValue builtIn="false" value="WIN32_LEAN_AND_MEAN"/>
|
||||
<listOptionValue builtIn="false" value="NOMINMAX"/>
|
||||
<listOptionValue builtIn="false" value="FRC_SIMULATOR"/>
|
||||
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|
||||
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|
||||
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|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1090661906" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
|
||||
<tool command=""C:\Program Files (x86)\Microsoft Visual Studio 12.0\vc\bin\link"" commandLinePattern="${COMMAND} /ignore:4099 /LIBPATH:"C:\Program Files\Gazebo\FreeImage-vc12-x64-release-debug\x64\Debug\DLL" /LIBPATH:"C:\Program Files (x86)\Windows Kits\8.1\Lib\winv6.3\um\x64" /LIBPATH:"C:\Program Files\Gazebo\boost_1_56_0\lib64-msvc-12.0" /LIBPATH:"${WPILIB}\simulation\lib" /LIBPATH:"C:\Program Files\Gazebo\dlfcn-win32-vc12-x64-release-debug\build\install\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\pthread-w32\lib\x64" /LIBPATH:"C:\Program Files\Gazebo\ign-math\build\install\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\libcurl-vc12-x64-release-debug-static-ipv6-sspi-winssl\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\sdformat\build\install\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\protobuf-2.6.0-win64-vc12\vsprojects\Debug" /LIBPATH:"C:\Program Files\Gazebo\gazebo\build\install\Debug\lib" /LIBPATH:"C:\Program Files\Gazebo\tbb43_20141023oss\lib\intel64\vc12" /LIBPATH:"C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\lib\amd64" /LIBPATH:"C:\Program Files (x86)\Windows Kits\8.1\Lib\winv6.3\um\x64" ${FLAGS} /OUT:${OUTPUT_PREFIX}${OUTPUT} ${INPUTS} /DEBUG WPILibSim.lib gazebo.lib gazebo_transport.lib gazebo_msgs.lib gazebo_common.lib gazebo_util.lib gazebo_client.lib gazebo_math.lib libprotobuf.lib sdformat.lib dl.lib libcurl_a_debug.lib ignition-math2.lib pthreadVC2.lib gz_msgs.lib IPHlpApi.lib /NODEFAULTLIB:libboost_system-vc120-mt-gd-1_56.lib /NODEFAULTLIB:libboost_thread-vc120-mt-gd-1_56.lib FreeImaged.lib" errorParsers="" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.680547965" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
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||||
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||||
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|
||||
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
|
||||
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
|
||||
</inputType>
|
||||
<outputType id="cdt.managedbuild.tool.gnu.cpp.linker.output.so.1893130812" outputPrefix="" superClass="cdt.managedbuild.tool.gnu.cpp.linker.output.so"/>
|
||||
</tool>
|
||||
<tool id="cdt.managedbuild.tool.gnu.cross.archiver.976699519" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/>
|
||||
<tool command="as" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" errorParsers="" id="cdt.managedbuild.tool.gnu.cross.assembler.10555843" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
|
||||
<inputType id="cdt.managedbuild.tool.gnu.assembler.input.219135409" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
|
||||
</tool>
|
||||
</toolChain>
|
||||
</folderInfo>
|
||||
<sourceEntries>
|
||||
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
|
||||
</sourceEntries>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
|
||||
</cconfiguration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
|
||||
<project id="GearsBotCPP.cdt.managedbuild.target.gnu.cross.exe.13534228" name="Executable" projectType="cdt.managedbuild.target.gnu.cross.exe"/>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
|
||||
<storageModule moduleId="refreshScope" versionNumber="2">
|
||||
<configuration configurationName="Windows Simulate"/>
|
||||
<configuration configurationName="Simulate">
|
||||
<resource resourceType="PROJECT" workspacePath="/GearsBotCPP"/>
|
||||
</configuration>
|
||||
<configuration configurationName="Debug">
|
||||
<resource resourceType="PROJECT" workspacePath="/GearsBotCPP"/>
|
||||
</configuration>
|
||||
</storageModule>
|
||||
<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
|
||||
<storageModule moduleId="scannerConfiguration">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.809153465;cdt.managedbuild.tool.gnu.cpp.compiler.input.1150869869">
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||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
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</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;org.eclipse.cdt.msvc.cl.dll.debug.544581750;org.eclipse.cdt.msvc.cl.inputType.1806965547">
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<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.msw.build.clScannerInfo"/>
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||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;org.eclipse.cdt.msvc.cl.c.dll.debug.748290057;org.eclipse.cdt.msvc.cl.inputType.c.690275938">
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<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.msw.build.clScannerInfo"/>
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</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.cross.c.compiler.1872033968;cdt.managedbuild.tool.gnu.c.compiler.input.1953150292">
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<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;org.eclipse.cdt.msvc.cl.dll.debug.880390044;org.eclipse.cdt.msvc.cl.inputType.393977355">
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<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.msw.build.clScannerInfo"/>
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</scannerConfigBuildInfo>
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<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.base.1297766759;cdt.managedbuild.tool.gnu.cpp.compiler.input.498113544">
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<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
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</scannerConfigBuildInfo>
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||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.c.compiler.mingw.exe.debug.785693711;cdt.managedbuild.tool.gnu.c.compiler.input.778242069">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;cdt.managedbuild.tool.gnu.cpp.compiler.mingw.exe.debug.1647706237;cdt.managedbuild.tool.gnu.cpp.compiler.input.1338339147">
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||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751;cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1505235107;cdt.managedbuild.tool.gnu.cpp.compiler.input.1033680971">
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<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.cross.exe.debug.1104744751;cdt.managedbuild.config.gnu.cross.exe.debug.1104744751.;cdt.managedbuild.tool.gnu.cross.c.compiler.1261239456;cdt.managedbuild.tool.gnu.c.compiler.input.1793678673">
|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
<scannerConfigBuildInfo instanceId="cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128;cdt.managedbuild.config.gnu.mingw.exe.debug.912379410.387599128.;org.eclipse.cdt.msvc.cl.c.dll.debug.1658947706;org.eclipse.cdt.msvc.cl.inputType.c.2076377067">
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||||
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|
||||
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|
||||
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|
||||
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
|
||||
</scannerConfigBuildInfo>
|
||||
</storageModule>
|
||||
</cproject>
|
||||
1
DriveBase/.gitignore
vendored
Normal file
1
DriveBase/.gitignore
vendored
Normal file
@ -0,0 +1 @@
|
||||
/Debug/
|
||||
28
DriveBase/.project
Normal file
28
DriveBase/.project
Normal file
@ -0,0 +1,28 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<projectDescription>
|
||||
<name>DriveBase</name>
|
||||
<comment></comment>
|
||||
<projects>
|
||||
</projects>
|
||||
<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
<nature>edu.wpi.first.wpilib.plugins.core.nature.FRCProjectNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
@ -0,0 +1,13 @@
|
||||
eclipse.preferences.version=1
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPATH/delimiter=;
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPATH/operation=remove
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPLUS_INCLUDE_PATH/delimiter=;
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/CPLUS_INCLUDE_PATH/operation=remove
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/C_INCLUDE_PATH/delimiter=;
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/C_INCLUDE_PATH/operation=remove
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/append=true
|
||||
environment/buildEnvironmentInclude/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/appendContributed=true
|
||||
environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/LIBRARY_PATH/delimiter=;
|
||||
environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/LIBRARY_PATH/operation=remove
|
||||
environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/append=true
|
||||
environment/buildEnvironmentLibrary/cdt.managedbuild.config.gnu.cross.exe.debug.1104744751/appendContributed=true
|
||||
11
DriveBase/build.properties
Normal file
11
DriveBase/build.properties
Normal file
@ -0,0 +1,11 @@
|
||||
# Build information
|
||||
out=FRCUserProgram
|
||||
src.dir=src
|
||||
build.dir=build
|
||||
out.exe=Debug/${out}
|
||||
|
||||
# Simulation
|
||||
simulation.world.file=/usr/share/frcsim/worlds/GearsBotDemo.world
|
||||
|
||||
# Use the current C++ library by default
|
||||
cpp-version=current
|
||||
28
DriveBase/build.xml
Normal file
28
DriveBase/build.xml
Normal file
@ -0,0 +1,28 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
|
||||
<project name="FRC Deployment" default="deploy">
|
||||
|
||||
<!--
|
||||
The following properties can be defined to override system level
|
||||
settings. These should not be touched unless you know what you're
|
||||
doing. The primary use is to override the wpilib version when
|
||||
working with older robots that can't compile with the latest
|
||||
libraries.
|
||||
-->
|
||||
|
||||
<!-- By default the system version of WPI is used -->
|
||||
<!-- <property name="version" value=""/> -->
|
||||
|
||||
<!-- By default the system team number is used -->
|
||||
<!-- <property name="team-number" value=""/> -->
|
||||
|
||||
<!-- By default the target is set to 10.TE.AM.2 -->
|
||||
<!-- <property name="target" value=""/> -->
|
||||
|
||||
<property file="${user.home}/wpilib/wpilib.properties"/>
|
||||
<property file="build.properties"/>
|
||||
<property file="${user.home}/wpilib/cpp/${version}/ant/build.properties"/>
|
||||
|
||||
<import file="${wpilib.ant.dir}/build.xml"/>
|
||||
|
||||
</project>
|
||||
39
DriveBase/src/Robot.cpp
Normal file
39
DriveBase/src/Robot.cpp
Normal file
@ -0,0 +1,39 @@
|
||||
#include "WPILib.h"
|
||||
#include "TankDrive.h"
|
||||
|
||||
/**
|
||||
* This sample shows how to use the new CANTalon to just run a motor in a basic
|
||||
* throttle mode, in the same manner as you might control a traditional PWM
|
||||
* controlled motor.
|
||||
*
|
||||
*/
|
||||
class Robot : public SampleRobot {
|
||||
CANTalon r1_drive, r2_drive, l1_drive, l2_drive;
|
||||
|
||||
Joystick m_stick;
|
||||
|
||||
// update every 0.01 seconds/10 milliseconds.
|
||||
// The talon only receives control packets every 10ms.
|
||||
double kUpdatePeriod = 0.010;
|
||||
|
||||
public:
|
||||
Robot()
|
||||
: r1_drive(0), // Initialize the Talon as device 1. Use the roboRIO web
|
||||
r2_drive(1)), // interface to change the device number on the talons.
|
||||
l1_drive(2),
|
||||
l2_drive(3),
|
||||
m_stick(0)
|
||||
{}
|
||||
|
||||
/**
|
||||
* Runs the motor from the output of a Joystick.
|
||||
*/
|
||||
void OperatorControl() {
|
||||
while (IsOperatorControl() && IsEnabled()) {
|
||||
// Do Drive.
|
||||
Wait(kUpdatePeriod); // Wait a bit so that the loop doesn't lock everything up.
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
START_ROBOT_CLASS(Robot)
|
||||
23
DriveBase/src/TankDrive.h
Normal file
23
DriveBase/src/TankDrive.h
Normal file
@ -0,0 +1,23 @@
|
||||
/*
|
||||
* TankDrive.h
|
||||
*
|
||||
* Created on: Jan 28, 2016
|
||||
* Author: Jason
|
||||
*/
|
||||
|
||||
#ifndef SRC_TANKDRIVE_H_
|
||||
#define SRC_TANKDRIVE_H_
|
||||
|
||||
#include "WPILib.h"
|
||||
|
||||
class TankDrive {
|
||||
public:
|
||||
TankDrive(CANTalon *left, CANTalon *right) { Left = left; Right = right; }
|
||||
virtual ~TankDrive() { delete Left[0]; delete Left[1]; delete Right[0]; delete Right[1]; }
|
||||
|
||||
private:
|
||||
CANTalon *Left;
|
||||
CANTalon *Right;
|
||||
};
|
||||
|
||||
#endif /* SRC_TANKDRIVE_H_ */
|
||||
BIN
DriveBase/wpilib/cpp/current/ant/ant-classloadertask.jar
Normal file
BIN
DriveBase/wpilib/cpp/current/ant/ant-classloadertask.jar
Normal file
Binary file not shown.
BIN
DriveBase/wpilib/cpp/current/ant/ant-contrib.jar
Normal file
BIN
DriveBase/wpilib/cpp/current/ant/ant-contrib.jar
Normal file
Binary file not shown.
22
DriveBase/wpilib/cpp/current/ant/build.properties
Normal file
22
DriveBase/wpilib/cpp/current/ant/build.properties
Normal file
@ -0,0 +1,22 @@
|
||||
# Deployment information
|
||||
username=lvuser
|
||||
password=
|
||||
deploy.dir=/home/lvuser
|
||||
deploy.kill.command=/usr/local/frc/bin/frcKillRobot.sh -t -r
|
||||
command.dir=/home/lvuser/
|
||||
|
||||
# Libraries to use
|
||||
wpilib=${user.home}/wpilib/cpp/${cpp-version}
|
||||
wpilib.lib=${wpilib}/lib
|
||||
roboRIOAllowedImages=19
|
||||
|
||||
# Ant support
|
||||
wpilib.ant.dir=${wpilib}/ant
|
||||
jsch.jar=${wpilib.ant.dir}/jsch-0.1.50.jar
|
||||
classloadertask.jar=${wpilib.ant.dir}/ant-classloadertask.jar
|
||||
|
||||
#simulation stuff
|
||||
sim.exe=linux_simulate/${out}
|
||||
wpilib.sim=${wpilib}/sim
|
||||
sim.tools=${wpilib.sim}/tools
|
||||
sim.lib=${wpilib.sim}/lib
|
||||
132
DriveBase/wpilib/cpp/current/ant/build.xml
Normal file
132
DriveBase/wpilib/cpp/current/ant/build.xml
Normal file
@ -0,0 +1,132 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
|
||||
<project name="athena-project-build" default="deploy">
|
||||
|
||||
<!-- Load Tasks -->
|
||||
<taskdef resource="net/sf/antcontrib/antlib.xml">
|
||||
<classpath>
|
||||
<pathelement location="${wpilib.ant.dir}/ant-contrib.jar"/>
|
||||
</classpath>
|
||||
</taskdef>
|
||||
<taskdef resource="net/jtools/classloadertask/antlib.xml" classpath="${classloadertask.jar}"/>
|
||||
<classloader loader="system" classpath="${jsch.jar}"/>
|
||||
|
||||
<target name="clean" description="Clean up all build and distribution artifacts.">
|
||||
<delete dir="${build.dir}"/>
|
||||
<delete dir="${dist.dir}"/>
|
||||
</target>
|
||||
|
||||
<!-- Targets -->
|
||||
|
||||
<target name="get-target-ip">
|
||||
<property name="ant.enable.asserts" value="true"/>
|
||||
<assert name="team-number" exists="true" message="Team number not set. Go to Window->Preferences->WPILib Preferences to set it."/>
|
||||
<property name="target" value="roboRIO-${team-number}-FRC.local" />
|
||||
<echo>Trying Target: ${target}</echo>
|
||||
<if>
|
||||
<isreachable host="${target}" timeout="5"/>
|
||||
<then>
|
||||
<echo>roboRIO found via mDNS</echo>
|
||||
</then>
|
||||
<else>
|
||||
<var name="target" unset="true"/>
|
||||
<echo> roboRIO not found via mDNS, falling back to static USB</echo>
|
||||
<property name="target" value="172.22.11.2"/>
|
||||
<if>
|
||||
<isreachable host="${target}" timeout="5"/>
|
||||
<then>
|
||||
<echo>roboRIO found via static USB</echo>
|
||||
</then>
|
||||
<else>
|
||||
<var name="target" unset="true"/>
|
||||
<math result="ip.upper" operand1="${team-number}" operation="/" operand2="100" datatype="int"/>
|
||||
<math result="ip.lower" operand1="${team-number}" operation="%" operand2="100" datatype="int"/>
|
||||
<property name="target" value="10.${ip.upper}.${ip.lower}.2"/>
|
||||
<echo>roboRIO not found via USB, falling back to static address of ${target}</echo>
|
||||
<assert name="roboRIOFound" message="roboRIO not found, please check that the roboRIO is connected, imaged and that the team number is set properly in Eclipse">
|
||||
<bool>
|
||||
<isreachable host="${target}" timeout="5"/>
|
||||
</bool>
|
||||
</assert>
|
||||
<echo>roboRIO found via Ethernet static</echo>
|
||||
</else>
|
||||
</if>
|
||||
</else>
|
||||
</if>
|
||||
</target>
|
||||
|
||||
<target name="deploy" depends="get-target-ip, dependencies" description="Deploy the progam and start it running.">
|
||||
<sshexec host="${target}"
|
||||
username="${username}"
|
||||
password="${password}"
|
||||
trust="true"
|
||||
failonerror="no"
|
||||
command="rm -f ${deploy.dir}/FRCUserProgram" />
|
||||
|
||||
<echo>[athena-deploy] Copying code over.</echo>
|
||||
<scp file="${out.exe}" sftp="true" todir="${username}@${target}:${deploy.dir}" password="${password}" trust="true"/>
|
||||
|
||||
<!-- Suppress the exit status so that if no netconsole was running then
|
||||
it doesn't show up red on the output. -->
|
||||
<sshexec host="${target}"
|
||||
username="admin"
|
||||
password="${password}"
|
||||
trust="true"
|
||||
failonerror="false"
|
||||
command="killall -q netconsole-host || :"/>
|
||||
|
||||
<scp file="${wpilib.ant.dir}/robotCommand" todir="${username}@${target}:/home/lvuser/" password="${password}" trust="true"/>
|
||||
|
||||
<echo>[athena-deploy] Starting program.</echo>
|
||||
<sshexec host="${target}"
|
||||
username="${username}"
|
||||
password="${password}"
|
||||
trust="true"
|
||||
failonerror="false"
|
||||
command=". /etc/profile.d/natinst-path.sh; chmod a+x ${deploy.dir}/${out}; ${deploy.kill.command};"/>
|
||||
|
||||
<sshexec host="${target}"
|
||||
username="${username}"
|
||||
password="${password}"
|
||||
trust="true"
|
||||
command="sync" />
|
||||
|
||||
</target>
|
||||
|
||||
<target name="kill-program" depends="get-target-ip" description="Kill the currently running FRC program">
|
||||
<sshexec host="${target}"
|
||||
username="${username}"
|
||||
password="${password}"
|
||||
trust="true"
|
||||
failonerror="false"
|
||||
command=". /etc/profile.d/natinst-path.sh; /usr/local/frc/bin/frcKillRobot.sh -t"/>
|
||||
</target>
|
||||
|
||||
<!-- Simulation support -->
|
||||
<target name="simulate">
|
||||
<parallel>
|
||||
<sequential>
|
||||
<echo>[simulate] You may now run Gazebo and your driver station</echo>
|
||||
<echo>[simulate] Running Code.</echo>
|
||||
<exec executable="${sim.exe}"></exec>
|
||||
</sequential>
|
||||
</parallel>
|
||||
</target>
|
||||
|
||||
<target name="dependencies" depends="get-target-ip">
|
||||
<property name="ant.enable.asserts" value="true"/>
|
||||
<post to="http://${target}/nisysapi/server" logfile="sysProps.xml" verbose="false" encoding="UTF-16LE" append="false">
|
||||
<prop name="Function" value="GetPropertiesOfItem"/>
|
||||
<prop name="Plugins" value="nisyscfg"/>
|
||||
<prop name="Items" value="system"/>
|
||||
</post>
|
||||
<loadfile srcFile="sysProps.xml" encoding="UTF-16LE" property="roboRIOSysValues"/>
|
||||
<propertyregex property="roboRIOImage" input="${roboRIOSysValues}" regexp="FRC_roboRIO_2016_v([0-9]+)" select="\1" defaultValue="ImageRegExFail"/>
|
||||
<assert message="roboRIO Image does not match plugin, allowed image version: ${roboRIOAllowedImages}">
|
||||
<bool>
|
||||
<contains string="${roboRIOAllowedImages}" substring="${roboRIOImage}"/>
|
||||
</bool>
|
||||
</assert>
|
||||
<echo>roboRIO image version validated</echo>
|
||||
</target>
|
||||
</project>
|
||||
BIN
DriveBase/wpilib/cpp/current/ant/jsch-0.1.50.jar
Normal file
BIN
DriveBase/wpilib/cpp/current/ant/jsch-0.1.50.jar
Normal file
Binary file not shown.
1
DriveBase/wpilib/cpp/current/ant/robotCommand
Normal file
1
DriveBase/wpilib/cpp/current/ant/robotCommand
Normal file
@ -0,0 +1 @@
|
||||
/usr/local/frc/bin/netconsole-host /home/lvuser/FRCUserProgram
|
||||
79
DriveBase/wpilib/cpp/current/include/ADXL345_I2C.h
Normal file
79
DriveBase/wpilib/cpp/current/include/ADXL345_I2C.h
Normal file
@ -0,0 +1,79 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "interfaces/Accelerometer.h"
|
||||
#include "I2C.h"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
#include <memory>
|
||||
|
||||
/**
|
||||
* ADXL345 Accelerometer on I2C.
|
||||
*
|
||||
* This class allows access to a Analog Devices ADXL345 3-axis accelerometer on
|
||||
* an I2C bus.
|
||||
* This class assumes the default (not alternate) sensor address of 0x1D (7-bit
|
||||
* address).
|
||||
*/
|
||||
class ADXL345_I2C : public Accelerometer,
|
||||
public I2C,
|
||||
public LiveWindowSendable {
|
||||
protected:
|
||||
static const uint8_t kAddress = 0x1D;
|
||||
static const uint8_t kPowerCtlRegister = 0x2D;
|
||||
static const uint8_t kDataFormatRegister = 0x31;
|
||||
static const uint8_t kDataRegister = 0x32;
|
||||
static constexpr double kGsPerLSB = 0.00390625;
|
||||
enum PowerCtlFields {
|
||||
kPowerCtl_Link = 0x20,
|
||||
kPowerCtl_AutoSleep = 0x10,
|
||||
kPowerCtl_Measure = 0x08,
|
||||
kPowerCtl_Sleep = 0x04
|
||||
};
|
||||
enum DataFormatFields {
|
||||
kDataFormat_SelfTest = 0x80,
|
||||
kDataFormat_SPI = 0x40,
|
||||
kDataFormat_IntInvert = 0x20,
|
||||
kDataFormat_FullRes = 0x08,
|
||||
kDataFormat_Justify = 0x04
|
||||
};
|
||||
|
||||
public:
|
||||
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
|
||||
struct AllAxes {
|
||||
double XAxis;
|
||||
double YAxis;
|
||||
double ZAxis;
|
||||
};
|
||||
|
||||
public:
|
||||
explicit ADXL345_I2C(Port port, Range range = kRange_2G, int deviceAddress = kAddress);
|
||||
virtual ~ADXL345_I2C() = default;
|
||||
|
||||
ADXL345_I2C(const ADXL345_I2C&) = delete;
|
||||
ADXL345_I2C& operator=(const ADXL345_I2C&) = delete;
|
||||
|
||||
// Accelerometer interface
|
||||
virtual void SetRange(Range range) override;
|
||||
virtual double GetX() override;
|
||||
virtual double GetY() override;
|
||||
virtual double GetZ() override;
|
||||
|
||||
virtual double GetAcceleration(Axes axis);
|
||||
virtual AllAxes GetAccelerations();
|
||||
|
||||
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;
|
||||
virtual void StartLiveWindowMode() override {}
|
||||
virtual void StopLiveWindowMode() override {}
|
||||
|
||||
private:
|
||||
std::shared_ptr<ITable> m_table;
|
||||
};
|
||||
83
DriveBase/wpilib/cpp/current/include/ADXL345_SPI.h
Normal file
83
DriveBase/wpilib/cpp/current/include/ADXL345_SPI.h
Normal file
@ -0,0 +1,83 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "interfaces/Accelerometer.h"
|
||||
#include "SensorBase.h"
|
||||
#include "SPI.h"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
class DigitalInput;
|
||||
class DigitalOutput;
|
||||
|
||||
/**
|
||||
* ADXL345 Accelerometer on SPI.
|
||||
*
|
||||
* This class allows access to an Analog Devices ADXL345 3-axis accelerometer
|
||||
* via SPI.
|
||||
* This class assumes the sensor is wired in 4-wire SPI mode.
|
||||
*/
|
||||
class ADXL345_SPI : public Accelerometer,
|
||||
protected SPI,
|
||||
public LiveWindowSendable {
|
||||
protected:
|
||||
static const uint8_t kPowerCtlRegister = 0x2D;
|
||||
static const uint8_t kDataFormatRegister = 0x31;
|
||||
static const uint8_t kDataRegister = 0x32;
|
||||
static constexpr double kGsPerLSB = 0.00390625;
|
||||
enum SPIAddressFields { kAddress_Read = 0x80, kAddress_MultiByte = 0x40 };
|
||||
enum PowerCtlFields {
|
||||
kPowerCtl_Link = 0x20,
|
||||
kPowerCtl_AutoSleep = 0x10,
|
||||
kPowerCtl_Measure = 0x08,
|
||||
kPowerCtl_Sleep = 0x04
|
||||
};
|
||||
enum DataFormatFields {
|
||||
kDataFormat_SelfTest = 0x80,
|
||||
kDataFormat_SPI = 0x40,
|
||||
kDataFormat_IntInvert = 0x20,
|
||||
kDataFormat_FullRes = 0x08,
|
||||
kDataFormat_Justify = 0x04
|
||||
};
|
||||
|
||||
public:
|
||||
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
|
||||
struct AllAxes {
|
||||
double XAxis;
|
||||
double YAxis;
|
||||
double ZAxis;
|
||||
};
|
||||
|
||||
public:
|
||||
ADXL345_SPI(SPI::Port port, Range range = kRange_2G);
|
||||
virtual ~ADXL345_SPI() = default;
|
||||
|
||||
ADXL345_SPI(const ADXL345_SPI&) = delete;
|
||||
ADXL345_SPI& operator=(const ADXL345_SPI&) = delete;
|
||||
|
||||
// Accelerometer interface
|
||||
virtual void SetRange(Range range) override;
|
||||
virtual double GetX() override;
|
||||
virtual double GetY() override;
|
||||
virtual double GetZ() override;
|
||||
|
||||
virtual double GetAcceleration(Axes axis);
|
||||
virtual AllAxes GetAccelerations();
|
||||
|
||||
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;
|
||||
virtual void StartLiveWindowMode() override {}
|
||||
virtual void StopLiveWindowMode() override {}
|
||||
|
||||
private:
|
||||
std::shared_ptr<ITable> m_table;
|
||||
};
|
||||
63
DriveBase/wpilib/cpp/current/include/ADXL362.h
Normal file
63
DriveBase/wpilib/cpp/current/include/ADXL362.h
Normal file
@ -0,0 +1,63 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "interfaces/Accelerometer.h"
|
||||
#include "SensorBase.h"
|
||||
#include "SPI.h"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
class DigitalInput;
|
||||
class DigitalOutput;
|
||||
|
||||
/**
|
||||
* ADXL362 SPI Accelerometer.
|
||||
*
|
||||
* This class allows access to an Analog Devices ADXL362 3-axis accelerometer.
|
||||
*/
|
||||
class ADXL362 : public Accelerometer, public LiveWindowSendable {
|
||||
public:
|
||||
enum Axes { kAxis_X = 0x00, kAxis_Y = 0x02, kAxis_Z = 0x04 };
|
||||
struct AllAxes {
|
||||
double XAxis;
|
||||
double YAxis;
|
||||
double ZAxis;
|
||||
};
|
||||
|
||||
public:
|
||||
ADXL362(Range range = kRange_2G);
|
||||
ADXL362(SPI::Port port, Range range = kRange_2G);
|
||||
virtual ~ADXL362() = default;
|
||||
|
||||
ADXL362(const ADXL362&) = delete;
|
||||
ADXL362& operator=(const ADXL362&) = delete;
|
||||
|
||||
// Accelerometer interface
|
||||
virtual void SetRange(Range range) override;
|
||||
virtual double GetX() override;
|
||||
virtual double GetY() override;
|
||||
virtual double GetZ() override;
|
||||
|
||||
virtual double GetAcceleration(Axes axis);
|
||||
virtual AllAxes GetAccelerations();
|
||||
|
||||
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;
|
||||
virtual void StartLiveWindowMode() override {}
|
||||
virtual void StopLiveWindowMode() override {}
|
||||
|
||||
private:
|
||||
SPI m_spi;
|
||||
double m_gsPerLSB = 0.001;
|
||||
|
||||
std::shared_ptr<ITable> m_table;
|
||||
};
|
||||
43
DriveBase/wpilib/cpp/current/include/ADXRS450_Gyro.h
Normal file
43
DriveBase/wpilib/cpp/current/include/ADXRS450_Gyro.h
Normal file
@ -0,0 +1,43 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2015-2016. 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 "GyroBase.h"
|
||||
#include "Notifier.h"
|
||||
#include "SPI.h"
|
||||
#include "HAL/cpp/priority_mutex.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
/**
|
||||
* Use a rate gyro to return the robots heading relative to a starting position.
|
||||
* The Gyro class tracks the robots heading based on the starting position. As
|
||||
* the robot rotates the new heading is computed by integrating the rate of
|
||||
* rotation returned by the sensor. When the class is instantiated, it does a
|
||||
* short calibration routine where it samples the gyro while at rest to
|
||||
* determine the default offset. This is subtracted from each sample to
|
||||
* determine the heading.
|
||||
*
|
||||
* This class is for the digital ADXRS450 gyro sensor that connects via SPI.
|
||||
*/
|
||||
class ADXRS450_Gyro : public GyroBase {
|
||||
public:
|
||||
ADXRS450_Gyro();
|
||||
explicit ADXRS450_Gyro(SPI::Port port);
|
||||
virtual ~ADXRS450_Gyro() = default;
|
||||
|
||||
float GetAngle() const override;
|
||||
double GetRate() const override;
|
||||
void Reset() override;
|
||||
void Calibrate() override;
|
||||
|
||||
private:
|
||||
SPI m_spi;
|
||||
|
||||
uint16_t ReadRegister(uint8_t reg);
|
||||
};
|
||||
54
DriveBase/wpilib/cpp/current/include/AnalogAccelerometer.h
Normal file
54
DriveBase/wpilib/cpp/current/include/AnalogAccelerometer.h
Normal file
@ -0,0 +1,54 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "AnalogInput.h"
|
||||
#include "SensorBase.h"
|
||||
#include "PIDSource.h"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
/**
|
||||
* Handle operation of an analog accelerometer.
|
||||
* The accelerometer reads acceleration directly through the sensor. Many
|
||||
* sensors have
|
||||
* multiple axis and can be treated as multiple devices. Each is calibrated by
|
||||
* finding
|
||||
* the center value over a period of time.
|
||||
*/
|
||||
class AnalogAccelerometer : public SensorBase,
|
||||
public PIDSource,
|
||||
public LiveWindowSendable {
|
||||
public:
|
||||
explicit AnalogAccelerometer(int32_t channel);
|
||||
explicit AnalogAccelerometer(AnalogInput *channel);
|
||||
explicit AnalogAccelerometer(std::shared_ptr<AnalogInput> channel);
|
||||
virtual ~AnalogAccelerometer() = default;
|
||||
|
||||
float GetAcceleration() const;
|
||||
void SetSensitivity(float sensitivity);
|
||||
void SetZero(float zero);
|
||||
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:
|
||||
void InitAccelerometer();
|
||||
|
||||
std::shared_ptr<AnalogInput> m_analogInput;
|
||||
float m_voltsPerG = 1.0;
|
||||
float m_zeroGVoltage = 2.5;
|
||||
|
||||
std::shared_ptr<ITable> m_table;
|
||||
};
|
||||
64
DriveBase/wpilib/cpp/current/include/AnalogGyro.h
Normal file
64
DriveBase/wpilib/cpp/current/include/AnalogGyro.h
Normal file
@ -0,0 +1,64 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "GyroBase.h"
|
||||
|
||||
class AnalogInput;
|
||||
|
||||
/**
|
||||
* Use a rate gyro to return the robots heading relative to a starting position.
|
||||
* The Gyro class tracks the robots heading based on the starting position. As
|
||||
* the robot
|
||||
* rotates the new heading is computed by integrating the rate of rotation
|
||||
* returned
|
||||
* by the sensor. When the class is instantiated, it does a short calibration
|
||||
* routine
|
||||
* where it samples the gyro while at rest to determine the default offset. This
|
||||
* is
|
||||
* subtracted from each sample to determine the heading. This gyro class must be
|
||||
* used
|
||||
* with a channel that is assigned one of the Analog accumulators from the FPGA.
|
||||
* See
|
||||
* AnalogInput for the current accumulator assignments.
|
||||
*
|
||||
* This class is for gyro sensors that connect to an analog input.
|
||||
*/
|
||||
class AnalogGyro : public GyroBase {
|
||||
public:
|
||||
static const uint32_t kOversampleBits = 10;
|
||||
static const uint32_t kAverageBits = 0;
|
||||
static constexpr float kSamplesPerSecond = 50.0;
|
||||
static constexpr float kCalibrationSampleTime = 5.0;
|
||||
static constexpr float kDefaultVoltsPerDegreePerSecond = 0.007;
|
||||
|
||||
explicit AnalogGyro(int32_t channel);
|
||||
explicit AnalogGyro(AnalogInput *channel);
|
||||
explicit AnalogGyro(std::shared_ptr<AnalogInput> channel);
|
||||
AnalogGyro(int32_t channel, uint32_t center, float offset);
|
||||
AnalogGyro(std::shared_ptr<AnalogInput> channel, uint32_t center, float offset);
|
||||
virtual ~AnalogGyro() = default;
|
||||
|
||||
float GetAngle() const override;
|
||||
double GetRate() const override;
|
||||
virtual uint32_t GetCenter() const;
|
||||
virtual float GetOffset() const;
|
||||
void SetSensitivity(float voltsPerDegreePerSecond);
|
||||
void SetDeadband(float volts);
|
||||
void Reset() override;
|
||||
virtual void InitGyro();
|
||||
void Calibrate() override;
|
||||
|
||||
protected:
|
||||
std::shared_ptr<AnalogInput> m_analog;
|
||||
|
||||
private:
|
||||
float m_voltsPerDegreePerSecond;
|
||||
float m_offset;
|
||||
uint32_t m_center;
|
||||
};
|
||||
88
DriveBase/wpilib/cpp/current/include/AnalogInput.h
Normal file
88
DriveBase/wpilib/cpp/current/include/AnalogInput.h
Normal file
@ -0,0 +1,88 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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;
|
||||
};
|
||||
39
DriveBase/wpilib/cpp/current/include/AnalogOutput.h
Normal file
39
DriveBase/wpilib/cpp/current/include/AnalogOutput.h
Normal file
@ -0,0 +1,39 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2014-2016. 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 "LiveWindow/LiveWindowSendable.h"
|
||||
#include <memory>
|
||||
#include <cstdint>
|
||||
|
||||
/**
|
||||
* MXP analog output class.
|
||||
*/
|
||||
class AnalogOutput : public SensorBase, public LiveWindowSendable {
|
||||
public:
|
||||
explicit AnalogOutput(uint32_t channel);
|
||||
virtual ~AnalogOutput();
|
||||
|
||||
void SetVoltage(float voltage);
|
||||
float GetVoltage() const;
|
||||
|
||||
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;
|
||||
|
||||
protected:
|
||||
uint32_t m_channel;
|
||||
void *m_port;
|
||||
|
||||
std::shared_ptr<ITable> m_table;
|
||||
};
|
||||
92
DriveBase/wpilib/cpp/current/include/AnalogPotentiometer.h
Normal file
92
DriveBase/wpilib/cpp/current/include/AnalogPotentiometer.h
Normal file
@ -0,0 +1,92 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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;
|
||||
};
|
||||
36
DriveBase/wpilib/cpp/current/include/AnalogTrigger.h
Normal file
36
DriveBase/wpilib/cpp/current/include/AnalogTrigger.h
Normal file
@ -0,0 +1,36 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "AnalogTriggerOutput.h"
|
||||
#include "SensorBase.h"
|
||||
|
||||
class AnalogInput;
|
||||
|
||||
class AnalogTrigger : public SensorBase {
|
||||
friend class AnalogTriggerOutput;
|
||||
|
||||
public:
|
||||
explicit AnalogTrigger(int32_t channel);
|
||||
explicit AnalogTrigger(AnalogInput *channel);
|
||||
virtual ~AnalogTrigger();
|
||||
|
||||
void SetLimitsVoltage(float lower, float upper);
|
||||
void SetLimitsRaw(int32_t lower, int32_t upper);
|
||||
void SetAveraged(bool useAveragedValue);
|
||||
void SetFiltered(bool useFilteredValue);
|
||||
uint32_t GetIndex() const;
|
||||
bool GetInWindow();
|
||||
bool GetTriggerState();
|
||||
std::shared_ptr<AnalogTriggerOutput> CreateOutput(AnalogTriggerType type) const;
|
||||
|
||||
private:
|
||||
uint8_t m_index;
|
||||
void *m_trigger;
|
||||
};
|
||||
78
DriveBase/wpilib/cpp/current/include/AnalogTriggerOutput.h
Normal file
78
DriveBase/wpilib/cpp/current/include/AnalogTriggerOutput.h
Normal file
@ -0,0 +1,78 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "DigitalSource.h"
|
||||
|
||||
class AnalogTrigger;
|
||||
|
||||
/**
|
||||
* Class to represent a specific output from an analog trigger.
|
||||
* This class is used to get the current output value and also as a
|
||||
* DigitalSource
|
||||
* to provide routing of an output to digital subsystems on the FPGA such as
|
||||
* Counter, Encoder, and Interrupt.
|
||||
*
|
||||
* The TriggerState output indicates the primary output value of the trigger.
|
||||
* If the analog
|
||||
* signal is less than the lower limit, the output is false. If the analog
|
||||
* value is greater
|
||||
* than the upper limit, then the output is true. If the analog value is in
|
||||
* between, then
|
||||
* the trigger output state maintains its most recent value.
|
||||
*
|
||||
* The InWindow output indicates whether or not the analog signal is inside the
|
||||
* range defined
|
||||
* by the limits.
|
||||
*
|
||||
* The RisingPulse and FallingPulse outputs detect an instantaneous transition
|
||||
* from above the
|
||||
* upper limit to below the lower limit, and vise versa. These pulses represent
|
||||
* a rollover
|
||||
* condition of a sensor and can be routed to an up / down couter or to
|
||||
* interrupts. Because
|
||||
* the outputs generate a pulse, they cannot be read directly. To help ensure
|
||||
* that a rollover
|
||||
* condition is not missed, there is an average rejection filter available that
|
||||
* operates on the
|
||||
* upper 8 bits of a 12 bit number and selects the nearest outlyer of 3 samples.
|
||||
* This will reject
|
||||
* a sample that is (due to averaging or sampling) errantly between the two
|
||||
* limits. This filter
|
||||
* will fail if more than one sample in a row is errantly in between the two
|
||||
* limits. You may see
|
||||
* this problem if attempting to use this feature with a mechanical rollover
|
||||
* sensor, such as a
|
||||
* 360 degree no-stop potentiometer without signal conditioning, because the
|
||||
* rollover transition
|
||||
* is not sharp / clean enough. Using the averaging engine may help with this,
|
||||
* but rotational speeds of
|
||||
* the sensor will then be limited.
|
||||
*/
|
||||
class AnalogTriggerOutput : public DigitalSource {
|
||||
friend class AnalogTrigger;
|
||||
|
||||
public:
|
||||
virtual ~AnalogTriggerOutput();
|
||||
bool Get() const;
|
||||
|
||||
// DigitalSource interface
|
||||
virtual uint32_t GetChannelForRouting() const override;
|
||||
virtual uint32_t GetModuleForRouting() const override;
|
||||
virtual bool GetAnalogTriggerForRouting() const override;
|
||||
|
||||
protected:
|
||||
AnalogTriggerOutput(const AnalogTrigger &trigger, AnalogTriggerType outputType);
|
||||
|
||||
private:
|
||||
// Uses reference rather than smart pointer because a user can not construct
|
||||
// an AnalogTriggerOutput themselves and because the AnalogTriggerOutput
|
||||
// should always be in scope at the same time as an AnalogTrigger.
|
||||
const AnalogTrigger &m_trigger;
|
||||
AnalogTriggerType m_outputType;
|
||||
};
|
||||
117
DriveBase/wpilib/cpp/current/include/Base.h
Normal file
117
DriveBase/wpilib/cpp/current/include/Base.h
Normal file
@ -0,0 +1,117 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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
|
||||
|
||||
// MSVC 2013 doesn't allow "= default" on move constructors, but since we are
|
||||
// (currently) only actually using the move constructors in non-MSVC situations
|
||||
// (ie, wpilibC++Devices), we can just ignore it in MSVC.
|
||||
#if !defined(_MSC_VER)
|
||||
#define DEFAULT_MOVE_CONSTRUCTOR(ClassName) \
|
||||
ClassName(ClassName &&) = default
|
||||
#else
|
||||
#define DEFAULT_MOVE_CONSTRUCTOR(ClassName)
|
||||
#endif
|
||||
|
||||
#if (__cplusplus < 201103L)
|
||||
#if !defined(_MSC_VER)
|
||||
#define nullptr NULL
|
||||
#endif
|
||||
#define constexpr const
|
||||
#endif
|
||||
|
||||
#if defined(_MSC_VER)
|
||||
#define noexcept throw()
|
||||
#endif
|
||||
|
||||
// [[deprecated(msg)]] is a C++14 feature not supported by MSVC or GCC < 4.9.
|
||||
// We provide an equivalent warning implementation for those compilers here.
|
||||
#if defined(_MSC_VER)
|
||||
#define DEPRECATED(msg) __declspec(deprecated(msg))
|
||||
#elif defined(__GNUC__)
|
||||
#if __GNUC__ > 4 || (__GNUC__ == 4 && __GNUC_MINOR__ > 8)
|
||||
#define DEPRECATED(msg) [[deprecated(msg)]]
|
||||
#else
|
||||
#define DEPRECATED(msg) __attribute__((deprecated(msg)))
|
||||
#endif
|
||||
#elif __cplusplus > 201103L
|
||||
#define DEPRECATED(msg) [[deprecated(msg)]]
|
||||
#else
|
||||
#define DEPRECATED(msg) /*nothing*/
|
||||
#endif
|
||||
|
||||
// Provide std::decay_t when using GCC < 4.9
|
||||
#if defined(__GNUC__)
|
||||
#if __GNUC__ == 4 && __GNUC_MINOR__ < 9
|
||||
#include <type_traits>
|
||||
namespace std {
|
||||
template <class T> using decay_t = typename decay<T>::type;
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
|
||||
// A struct to use as a deleter when a std::shared_ptr must wrap a raw pointer
|
||||
// that is being deleted by someone else.
|
||||
template<class T>
|
||||
struct
|
||||
NullDeleter {
|
||||
void operator()(T *) const noexcept {};
|
||||
};
|
||||
|
||||
#include <atomic>
|
||||
// Use this for determining whether the default move constructor has been
|
||||
// called on a containing object. This serves the purpose of allowing us to
|
||||
// use the default move constructor of an object for moving all the data around
|
||||
// while being able to use this to, for instance, chose not to de-allocate
|
||||
// a PWM port in a destructor.
|
||||
struct HasBeenMoved {
|
||||
HasBeenMoved(HasBeenMoved&& other) {
|
||||
other.moved = true;
|
||||
moved = false;
|
||||
}
|
||||
HasBeenMoved() = default;
|
||||
std::atomic<bool> moved{false};
|
||||
operator bool() const { return moved; }
|
||||
};
|
||||
|
||||
// Define make_unique for C++11-only compilers
|
||||
#if __cplusplus == 201103L
|
||||
#include <cstddef>
|
||||
#include <memory>
|
||||
#include <type_traits>
|
||||
#include <utility>
|
||||
namespace std {
|
||||
template <class T>
|
||||
struct _Unique_if {
|
||||
typedef unique_ptr<T> _Single_object;
|
||||
};
|
||||
|
||||
template <class T>
|
||||
struct _Unique_if<T[]> {
|
||||
typedef unique_ptr<T[]> _Unknown_bound;
|
||||
};
|
||||
|
||||
template <class T, size_t N>
|
||||
struct _Unique_if<T[N]> {
|
||||
typedef void _Known_bound;
|
||||
};
|
||||
|
||||
template <class T, class... Args>
|
||||
typename _Unique_if<T>::_Single_object make_unique(Args &&... args) {
|
||||
return unique_ptr<T>(new T(std::forward<Args>(args)...));
|
||||
}
|
||||
|
||||
template <class T>
|
||||
typename _Unique_if<T>::_Unknown_bound make_unique(size_t n) {
|
||||
typedef typename remove_extent<T>::type U;
|
||||
return unique_ptr<T>(new U[n]());
|
||||
}
|
||||
|
||||
template <class T, class... Args>
|
||||
typename _Unique_if<T>::_Known_bound make_unique(Args &&...) = delete;
|
||||
} // namespace std
|
||||
#endif
|
||||
43
DriveBase/wpilib/cpp/current/include/BuiltInAccelerometer.h
Normal file
43
DriveBase/wpilib/cpp/current/include/BuiltInAccelerometer.h
Normal file
@ -0,0 +1,43 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2014-2016. 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 "interfaces/Accelerometer.h"
|
||||
#include "SensorBase.h"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
/**
|
||||
* Built-in accelerometer.
|
||||
*
|
||||
* This class allows access to the RoboRIO's internal accelerometer.
|
||||
*/
|
||||
class BuiltInAccelerometer : public Accelerometer,
|
||||
public SensorBase,
|
||||
public LiveWindowSendable {
|
||||
public:
|
||||
BuiltInAccelerometer(Range range = kRange_8G);
|
||||
virtual ~BuiltInAccelerometer() = default;
|
||||
|
||||
// Accelerometer interface
|
||||
virtual void SetRange(Range range) override;
|
||||
virtual double GetX() override;
|
||||
virtual double GetY() override;
|
||||
virtual double GetZ() override;
|
||||
|
||||
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;
|
||||
virtual void StartLiveWindowMode() override {}
|
||||
virtual void StopLiveWindowMode() override {}
|
||||
|
||||
private:
|
||||
std::shared_ptr<ITable> m_table;
|
||||
};
|
||||
37
DriveBase/wpilib/cpp/current/include/Buttons/Button.h
Normal file
37
DriveBase/wpilib/cpp/current/include/Buttons/Button.h
Normal file
@ -0,0 +1,37 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __BUTTON_H__
|
||||
#define __BUTTON_H__
|
||||
|
||||
#include "Buttons/Trigger.h"
|
||||
#include "Commands/Command.h"
|
||||
|
||||
/**
|
||||
* This class provides an easy way to link commands to OI inputs.
|
||||
*
|
||||
* It is very easy to link a button to a command. For instance, you could
|
||||
* link the trigger button of a joystick to a "score" command.
|
||||
*
|
||||
* This class represents a subclass of Trigger that is specifically aimed at
|
||||
* buttons on an operator interface as a common use case of the more generalized
|
||||
* Trigger objects. This is a simple wrapper around Trigger with the method
|
||||
* names
|
||||
* renamed to fit the Button object use.
|
||||
*
|
||||
* @author brad
|
||||
*/
|
||||
class Button : public Trigger {
|
||||
public:
|
||||
virtual void WhenPressed(Command *command);
|
||||
virtual void WhileHeld(Command *command);
|
||||
virtual void WhenReleased(Command *command);
|
||||
virtual void CancelWhenPressed(Command *command);
|
||||
virtual void ToggleWhenPressed(Command *command);
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,27 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __BUTTON_SCHEDULER_H__
|
||||
#define __BUTTON_SCHEDULER_H__
|
||||
|
||||
class Trigger;
|
||||
class Command;
|
||||
|
||||
class ButtonScheduler {
|
||||
public:
|
||||
ButtonScheduler(bool last, Trigger *button, Command *orders);
|
||||
virtual ~ButtonScheduler() = default;
|
||||
virtual void Execute() = 0;
|
||||
void Start();
|
||||
|
||||
protected:
|
||||
bool m_pressedLast;
|
||||
Trigger *m_button;
|
||||
Command *m_command;
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,26 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __CANCEL_BUTTON_SCHEDULER_H__
|
||||
#define __CANCEL_BUTTON_SCHEDULER_H__
|
||||
|
||||
#include "Buttons/ButtonScheduler.h"
|
||||
|
||||
class Trigger;
|
||||
class Command;
|
||||
|
||||
class CancelButtonScheduler : public ButtonScheduler {
|
||||
public:
|
||||
CancelButtonScheduler(bool last, Trigger *button, Command *orders);
|
||||
virtual ~CancelButtonScheduler() = default;
|
||||
virtual void Execute();
|
||||
|
||||
private:
|
||||
bool pressedLast;
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,23 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __HELD_BUTTON_SCHEDULER_H__
|
||||
#define __HELD_BUTTON_SCHEDULER_H__
|
||||
|
||||
#include "Buttons/ButtonScheduler.h"
|
||||
|
||||
class Trigger;
|
||||
class Command;
|
||||
|
||||
class HeldButtonScheduler : public ButtonScheduler {
|
||||
public:
|
||||
HeldButtonScheduler(bool last, Trigger *button, Command *orders);
|
||||
virtual ~HeldButtonScheduler() = default;
|
||||
virtual void Execute();
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,29 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __INTERNAL_BUTTON_H__
|
||||
#define __INTERNAL_BUTTON_H__
|
||||
|
||||
#include "Buttons/Button.h"
|
||||
|
||||
class InternalButton : public Button {
|
||||
public:
|
||||
InternalButton() = default;
|
||||
InternalButton(bool inverted);
|
||||
virtual ~InternalButton() = default;
|
||||
|
||||
void SetInverted(bool inverted);
|
||||
void SetPressed(bool pressed);
|
||||
|
||||
virtual bool Get();
|
||||
|
||||
private:
|
||||
bool m_pressed = false;
|
||||
bool m_inverted = false;
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,26 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __JOYSTICK_BUTTON_H__
|
||||
#define __JOYSTICK_BUTTON_H__
|
||||
|
||||
#include "GenericHID.h"
|
||||
#include "Buttons/Button.h"
|
||||
|
||||
class JoystickButton : public Button {
|
||||
public:
|
||||
JoystickButton(GenericHID *joystick, int buttonNumber);
|
||||
virtual ~JoystickButton() = default;
|
||||
|
||||
virtual bool Get();
|
||||
|
||||
private:
|
||||
GenericHID *m_joystick;
|
||||
int m_buttonNumber;
|
||||
};
|
||||
|
||||
#endif
|
||||
28
DriveBase/wpilib/cpp/current/include/Buttons/NetworkButton.h
Normal file
28
DriveBase/wpilib/cpp/current/include/Buttons/NetworkButton.h
Normal file
@ -0,0 +1,28 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __NETWORK_BUTTON_H__
|
||||
#define __NETWORK_BUTTON_H__
|
||||
|
||||
#include "Buttons/Button.h"
|
||||
#include <string>
|
||||
#include <memory>
|
||||
|
||||
class NetworkButton : public Button {
|
||||
public:
|
||||
NetworkButton(const std::string &tableName, const std::string &field);
|
||||
NetworkButton(std::shared_ptr<ITable> table, const std::string &field);
|
||||
virtual ~NetworkButton() = default;
|
||||
|
||||
virtual bool Get();
|
||||
|
||||
private:
|
||||
std::shared_ptr<ITable> m_netTable;
|
||||
std::string m_field;
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,23 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __PRESSED_BUTTON_SCHEDULER_H__
|
||||
#define __PRESSED_BUTTON_SCHEDULER_H__
|
||||
|
||||
#include "Buttons/ButtonScheduler.h"
|
||||
|
||||
class Trigger;
|
||||
class Command;
|
||||
|
||||
class PressedButtonScheduler : public ButtonScheduler {
|
||||
public:
|
||||
PressedButtonScheduler(bool last, Trigger *button, Command *orders);
|
||||
virtual ~PressedButtonScheduler() = default;
|
||||
virtual void Execute();
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,23 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __RELEASED_BUTTON_SCHEDULER_H__
|
||||
#define __RELEASED_BUTTON_SCHEDULER_H__
|
||||
|
||||
#include "Buttons/ButtonScheduler.h"
|
||||
|
||||
class Trigger;
|
||||
class Command;
|
||||
|
||||
class ReleasedButtonScheduler : public ButtonScheduler {
|
||||
public:
|
||||
ReleasedButtonScheduler(bool last, Trigger *button, Command *orders);
|
||||
virtual ~ReleasedButtonScheduler() = default;
|
||||
virtual void Execute();
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,26 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __TOGGLE_BUTTON_SCHEDULER_H__
|
||||
#define __TOGGLE_BUTTON_SCHEDULER_H__
|
||||
|
||||
#include "Buttons/ButtonScheduler.h"
|
||||
|
||||
class Trigger;
|
||||
class Command;
|
||||
|
||||
class ToggleButtonScheduler : public ButtonScheduler {
|
||||
public:
|
||||
ToggleButtonScheduler(bool last, Trigger *button, Command *orders);
|
||||
virtual ~ToggleButtonScheduler() = default;
|
||||
virtual void Execute();
|
||||
|
||||
private:
|
||||
bool pressedLast;
|
||||
};
|
||||
|
||||
#endif
|
||||
53
DriveBase/wpilib/cpp/current/include/Buttons/Trigger.h
Normal file
53
DriveBase/wpilib/cpp/current/include/Buttons/Trigger.h
Normal file
@ -0,0 +1,53 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __TRIGGER_H__
|
||||
#define __TRIGGER_H__
|
||||
|
||||
#include "SmartDashboard/Sendable.h"
|
||||
#include <memory>
|
||||
|
||||
class Command;
|
||||
|
||||
/**
|
||||
* This class provides an easy way to link commands to inputs.
|
||||
*
|
||||
* It is very easy to link a polled input to a command. For instance, you could
|
||||
* link the trigger button of a joystick to a "score" command or an encoder
|
||||
* reaching
|
||||
* a particular value.
|
||||
*
|
||||
* It is encouraged that teams write a subclass of Trigger if they want to have
|
||||
* something unusual (for instance, if they want to react to the user holding
|
||||
* a button while the robot is reading a certain sensor input). For this, they
|
||||
* only have to write the {@link Trigger#Get()} method to get the full
|
||||
* functionality
|
||||
* of the Trigger class.
|
||||
*
|
||||
* @author Brad Miller, Joe Grinstead
|
||||
*/
|
||||
class Trigger : public Sendable {
|
||||
public:
|
||||
Trigger() = default;
|
||||
virtual ~Trigger() = default;
|
||||
bool Grab();
|
||||
virtual bool Get() = 0;
|
||||
void WhenActive(Command *command);
|
||||
void WhileActive(Command *command);
|
||||
void WhenInactive(Command *command);
|
||||
void CancelWhenActive(Command *command);
|
||||
void ToggleWhenActive(Command *command);
|
||||
|
||||
virtual void InitTable(std::shared_ptr<ITable> table);
|
||||
virtual std::shared_ptr<ITable> GetTable() const;
|
||||
virtual std::string GetSmartDashboardType() const;
|
||||
|
||||
protected:
|
||||
std::shared_ptr<ITable> m_table;
|
||||
};
|
||||
|
||||
#endif
|
||||
415
DriveBase/wpilib/cpp/current/include/CAN/can_proto.h
Normal file
415
DriveBase/wpilib/cpp/current/include/CAN/can_proto.h
Normal file
@ -0,0 +1,415 @@
|
||||
//*****************************************************************************
|
||||
//
|
||||
// can_proto.h - Definitions for the CAN protocol used to communicate with the
|
||||
// BDC motor controller.
|
||||
//
|
||||
// Copyright (c) 2008 Texas Instruments Incorporated. All rights reserved.
|
||||
// TI Information - Selective Disclosure
|
||||
//
|
||||
//*****************************************************************************
|
||||
|
||||
#ifndef __CAN_PROTO_H__
|
||||
#define __CAN_PROTO_H__
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The masks of the fields that are used in the message identifier.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define CAN_MSGID_FULL_M 0x1fffffff
|
||||
#define CAN_MSGID_DEVNO_M 0x0000003f
|
||||
#define CAN_MSGID_API_M 0x0000ffc0
|
||||
#define CAN_MSGID_MFR_M 0x00ff0000
|
||||
#define CAN_MSGID_DTYPE_M 0x1f000000
|
||||
#define CAN_MSGID_DEVNO_S 0
|
||||
#define CAN_MSGID_API_S 6
|
||||
#define CAN_MSGID_MFR_S 16
|
||||
#define CAN_MSGID_DTYPE_S 24
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Reserved device number values in the Message Id.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define CAN_MSGID_DEVNO_BCAST 0x00000000
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Reserved system control API numbers in the Message Id.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define CAN_MSGID_API_SYSHALT 0x00000000
|
||||
#define CAN_MSGID_API_SYSRST 0x00000040
|
||||
#define CAN_MSGID_API_DEVASSIGN 0x00000080
|
||||
#define CAN_MSGID_API_DEVQUERY 0x000000c0
|
||||
#define CAN_MSGID_API_HEARTBEAT 0x00000140
|
||||
#define CAN_MSGID_API_SYNC 0x00000180
|
||||
#define CAN_MSGID_API_UPDATE 0x000001c0
|
||||
#define CAN_MSGID_API_FIRMVER 0x00000200
|
||||
#define CAN_MSGID_API_ENUMERATE 0x00000240
|
||||
#define CAN_MSGID_API_SYSRESUME 0x00000280
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The 32 bit values associated with the CAN_MSGID_API_STATUS request.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define CAN_STATUS_CODE_M 0x0000ffff
|
||||
#define CAN_STATUS_MFG_M 0x00ff0000
|
||||
#define CAN_STATUS_DTYPE_M 0x1f000000
|
||||
#define CAN_STATUS_CODE_S 0
|
||||
#define CAN_STATUS_MFG_S 16
|
||||
#define CAN_STATUS_DTYPE_S 24
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Reserved manufacturer identifiers in the Message Id.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define CAN_MSGID_MFR_NI 0x00010000
|
||||
#define CAN_MSGID_MFR_LM 0x00020000
|
||||
#define CAN_MSGID_MFR_DEKA 0x00030000
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Reserved device type identifiers in the Message Id.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define CAN_MSGID_DTYPE_BCAST 0x00000000
|
||||
#define CAN_MSGID_DTYPE_ROBOT 0x01000000
|
||||
#define CAN_MSGID_DTYPE_MOTOR 0x02000000
|
||||
#define CAN_MSGID_DTYPE_RELAY 0x03000000
|
||||
#define CAN_MSGID_DTYPE_GYRO 0x04000000
|
||||
#define CAN_MSGID_DTYPE_ACCEL 0x05000000
|
||||
#define CAN_MSGID_DTYPE_USONIC 0x06000000
|
||||
#define CAN_MSGID_DTYPE_GEART 0x07000000
|
||||
#define CAN_MSGID_DTYPE_UPDATE 0x1f000000
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// LM Motor Control API Classes API Class and ID masks.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define CAN_MSGID_API_CLASS_M 0x0000fc00
|
||||
#define CAN_MSGID_API_ID_M 0x000003c0
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// LM Motor Control API Classes in the Message Id for non-broadcast.
|
||||
// These are the upper 6 bits of the API field, the lower 4 bits determine
|
||||
// the APIId.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define CAN_API_MC_VOLTAGE 0x00000000
|
||||
#define CAN_API_MC_SPD 0x00000400
|
||||
#define CAN_API_MC_VCOMP 0x00000800
|
||||
#define CAN_API_MC_POS 0x00000c00
|
||||
#define CAN_API_MC_ICTRL 0x00001000
|
||||
#define CAN_API_MC_STATUS 0x00001400
|
||||
#define CAN_API_MC_PSTAT 0x00001800
|
||||
#define CAN_API_MC_CFG 0x00001c00
|
||||
#define CAN_API_MC_ACK 0x00002000
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Stellaris Motor Class Control Voltage API definitions.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_API_VOLT \
|
||||
(CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_VOLTAGE)
|
||||
#define LM_API_VOLT_EN (LM_API_VOLT | (0 << CAN_MSGID_API_S))
|
||||
#define LM_API_VOLT_DIS (LM_API_VOLT | (1 << CAN_MSGID_API_S))
|
||||
#define LM_API_VOLT_SET (LM_API_VOLT | (2 << CAN_MSGID_API_S))
|
||||
#define LM_API_VOLT_SET_RAMP (LM_API_VOLT | (3 << CAN_MSGID_API_S))
|
||||
//##### FIRST BEGIN #####
|
||||
#define LM_API_VOLT_T_EN (LM_API_VOLT | (4 << CAN_MSGID_API_S))
|
||||
#define LM_API_VOLT_T_SET (LM_API_VOLT | (5 << CAN_MSGID_API_S))
|
||||
#define LM_API_VOLT_T_SET_NO_ACK (LM_API_VOLT | (7 << CAN_MSGID_API_S))
|
||||
//##### FIRST END #####
|
||||
#define LM_API_VOLT_SET_NO_ACK (LM_API_VOLT | (8 << CAN_MSGID_API_S))
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Stellaris Motor Class Control API definitions for LM_API_VOLT_SET_RAMP.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_API_VOLT_RAMP_DIS 0
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Stellaris Motor Class Control API definitions for CAN_MSGID_API_SYNC.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_API_SYNC_PEND_NOW 0
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Stellaris Motor Class Speed Control API definitions.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_API_SPD (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_SPD)
|
||||
#define LM_API_SPD_EN (LM_API_SPD | (0 << CAN_MSGID_API_S))
|
||||
#define LM_API_SPD_DIS (LM_API_SPD | (1 << CAN_MSGID_API_S))
|
||||
#define LM_API_SPD_SET (LM_API_SPD | (2 << CAN_MSGID_API_S))
|
||||
#define LM_API_SPD_PC (LM_API_SPD | (3 << CAN_MSGID_API_S))
|
||||
#define LM_API_SPD_IC (LM_API_SPD | (4 << CAN_MSGID_API_S))
|
||||
#define LM_API_SPD_DC (LM_API_SPD | (5 << CAN_MSGID_API_S))
|
||||
#define LM_API_SPD_REF (LM_API_SPD | (6 << CAN_MSGID_API_S))
|
||||
//##### FIRST BEGIN #####
|
||||
#define LM_API_SPD_T_EN (LM_API_SPD | (7 << CAN_MSGID_API_S))
|
||||
#define LM_API_SPD_T_SET (LM_API_SPD | (8 << CAN_MSGID_API_S))
|
||||
#define LM_API_SPD_T_SET_NO_ACK (LM_API_SPD | (10 << CAN_MSGID_API_S))
|
||||
//##### FIRST END #####
|
||||
#define LM_API_SPD_SET_NO_ACK (LM_API_SPD | (11 << CAN_MSGID_API_S))
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Stellaris Motor Control Voltage Compensation Control API definitions.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_API_VCOMP \
|
||||
(CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_VCOMP)
|
||||
#define LM_API_VCOMP_EN (LM_API_VCOMP | (0 << CAN_MSGID_API_S))
|
||||
#define LM_API_VCOMP_DIS (LM_API_VCOMP | (1 << CAN_MSGID_API_S))
|
||||
#define LM_API_VCOMP_SET (LM_API_VCOMP | (2 << CAN_MSGID_API_S))
|
||||
#define LM_API_VCOMP_IN_RAMP (LM_API_VCOMP | (3 << CAN_MSGID_API_S))
|
||||
#define LM_API_VCOMP_COMP_RAMP (LM_API_VCOMP | (4 << CAN_MSGID_API_S))
|
||||
//##### FIRST BEGIN #####
|
||||
#define LM_API_VCOMP_T_EN (LM_API_VCOMP | (5 << CAN_MSGID_API_S))
|
||||
#define LM_API_VCOMP_T_SET (LM_API_VCOMP | (6 << CAN_MSGID_API_S))
|
||||
#define LM_API_VCOMP_T_SET_NO_ACK (LM_API_VCOMP | (8 << CAN_MSGID_API_S))
|
||||
//##### FIRST END #####
|
||||
#define LM_API_VCOMP_SET_NO_ACK (LM_API_VCOMP | (9 << CAN_MSGID_API_S))
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Stellaris Motor Class Position Control API definitions.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_API_POS (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_POS)
|
||||
#define LM_API_POS_EN (LM_API_POS | (0 << CAN_MSGID_API_S))
|
||||
#define LM_API_POS_DIS (LM_API_POS | (1 << CAN_MSGID_API_S))
|
||||
#define LM_API_POS_SET (LM_API_POS | (2 << CAN_MSGID_API_S))
|
||||
#define LM_API_POS_PC (LM_API_POS | (3 << CAN_MSGID_API_S))
|
||||
#define LM_API_POS_IC (LM_API_POS | (4 << CAN_MSGID_API_S))
|
||||
#define LM_API_POS_DC (LM_API_POS | (5 << CAN_MSGID_API_S))
|
||||
#define LM_API_POS_REF (LM_API_POS | (6 << CAN_MSGID_API_S))
|
||||
//##### FIRST BEGIN #####
|
||||
#define LM_API_POS_T_EN (LM_API_POS | (7 << CAN_MSGID_API_S))
|
||||
#define LM_API_POS_T_SET (LM_API_POS | (8 << CAN_MSGID_API_S))
|
||||
#define LM_API_POS_T_SET_NO_ACK (LM_API_POS | (10 << CAN_MSGID_API_S))
|
||||
//##### FIRST END #####
|
||||
#define LM_API_POS_SET_NO_ACK (LM_API_POS | (11 << CAN_MSGID_API_S))
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Stellaris Motor Class Current Control API definitions.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_API_ICTRL \
|
||||
(CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_ICTRL)
|
||||
#define LM_API_ICTRL_EN (LM_API_ICTRL | (0 << CAN_MSGID_API_S))
|
||||
#define LM_API_ICTRL_DIS (LM_API_ICTRL | (1 << CAN_MSGID_API_S))
|
||||
#define LM_API_ICTRL_SET (LM_API_ICTRL | (2 << CAN_MSGID_API_S))
|
||||
#define LM_API_ICTRL_PC (LM_API_ICTRL | (3 << CAN_MSGID_API_S))
|
||||
#define LM_API_ICTRL_IC (LM_API_ICTRL | (4 << CAN_MSGID_API_S))
|
||||
#define LM_API_ICTRL_DC (LM_API_ICTRL | (5 << CAN_MSGID_API_S))
|
||||
//##### FIRST BEGIN #####
|
||||
#define LM_API_ICTRL_T_EN (LM_API_ICTRL | (6 << CAN_MSGID_API_S))
|
||||
#define LM_API_ICTRL_T_SET (LM_API_ICTRL | (7 << CAN_MSGID_API_S))
|
||||
#define LM_API_ICTRL_T_SET_NO_ACK (LM_API_ICTRL | (9 << CAN_MSGID_API_S))
|
||||
//##### FIRST END #####
|
||||
#define LM_API_ICTRL_SET_NO_ACK (LM_API_ICTRL | (10 << CAN_MSGID_API_S))
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Stellaris Motor Class Firmware Update API definitions.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_API_UPD (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_UPDATE)
|
||||
#define LM_API_UPD_PING (LM_API_UPD | (0 << CAN_MSGID_API_S))
|
||||
#define LM_API_UPD_DOWNLOAD (LM_API_UPD | (1 << CAN_MSGID_API_S))
|
||||
#define LM_API_UPD_SEND_DATA (LM_API_UPD | (2 << CAN_MSGID_API_S))
|
||||
#define LM_API_UPD_RESET (LM_API_UPD | (3 << CAN_MSGID_API_S))
|
||||
#define LM_API_UPD_ACK (LM_API_UPD | (4 << CAN_MSGID_API_S))
|
||||
#define LM_API_HWVER (LM_API_UPD | (5 << CAN_MSGID_API_S))
|
||||
#define LM_API_UPD_REQUEST (LM_API_UPD | (6 << CAN_MSGID_API_S))
|
||||
//##### FIRST BEGIN #####
|
||||
#define LM_API_UNTRUST_EN (LM_API_UPD | (11 << CAN_MSGID_API_S))
|
||||
#define LM_API_TRUST_EN (LM_API_UPD | (12 << CAN_MSGID_API_S))
|
||||
#define LM_API_TRUST_HEARTBEAT (LM_API_UPD | (13 << CAN_MSGID_API_S))
|
||||
//##### FIRST END #####
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Stellaris Motor Class Status API definitions.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_API_STATUS \
|
||||
(CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_STATUS)
|
||||
#define LM_API_STATUS_VOLTOUT (LM_API_STATUS | (0 << CAN_MSGID_API_S))
|
||||
#define LM_API_STATUS_VOLTBUS (LM_API_STATUS | (1 << CAN_MSGID_API_S))
|
||||
#define LM_API_STATUS_CURRENT (LM_API_STATUS | (2 << CAN_MSGID_API_S))
|
||||
#define LM_API_STATUS_TEMP (LM_API_STATUS | (3 << CAN_MSGID_API_S))
|
||||
#define LM_API_STATUS_POS (LM_API_STATUS | (4 << CAN_MSGID_API_S))
|
||||
#define LM_API_STATUS_SPD (LM_API_STATUS | (5 << CAN_MSGID_API_S))
|
||||
#define LM_API_STATUS_LIMIT (LM_API_STATUS | (6 << CAN_MSGID_API_S))
|
||||
#define LM_API_STATUS_FAULT (LM_API_STATUS | (7 << CAN_MSGID_API_S))
|
||||
#define LM_API_STATUS_POWER (LM_API_STATUS | (8 << CAN_MSGID_API_S))
|
||||
#define LM_API_STATUS_CMODE (LM_API_STATUS | (9 << CAN_MSGID_API_S))
|
||||
#define LM_API_STATUS_VOUT (LM_API_STATUS | (10 << CAN_MSGID_API_S))
|
||||
#define LM_API_STATUS_STKY_FLT (LM_API_STATUS | (11 << CAN_MSGID_API_S))
|
||||
#define LM_API_STATUS_FLT_COUNT (LM_API_STATUS | (12 << CAN_MSGID_API_S))
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// These definitions are used with the byte that is returned from
|
||||
// the status request for LM_API_STATUS_LIMIT.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_STATUS_LIMIT_FWD 0x01
|
||||
#define LM_STATUS_LIMIT_REV 0x02
|
||||
#define LM_STATUS_LIMIT_SFWD 0x04
|
||||
#define LM_STATUS_LIMIT_SREV 0x08
|
||||
#define LM_STATUS_LIMIT_STKY_FWD 0x10
|
||||
#define LM_STATUS_LIMIT_STKY_REV 0x20
|
||||
#define LM_STATUS_LIMIT_STKY_SFWD 0x40
|
||||
#define LM_STATUS_LIMIT_STKY_SREV 0x80
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// LM Motor Control status codes returned due to the CAN_STATUS_CODE_M field.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_STATUS_FAULT_ILIMIT 0x01
|
||||
#define LM_STATUS_FAULT_TLIMIT 0x02
|
||||
#define LM_STATUS_FAULT_VLIMIT 0x04
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Stellaris Motor Class Configuration API definitions.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_API_CFG (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_CFG)
|
||||
#define LM_API_CFG_NUM_BRUSHES (LM_API_CFG | (0 << CAN_MSGID_API_S))
|
||||
#define LM_API_CFG_ENC_LINES (LM_API_CFG | (1 << CAN_MSGID_API_S))
|
||||
#define LM_API_CFG_POT_TURNS (LM_API_CFG | (2 << CAN_MSGID_API_S))
|
||||
#define LM_API_CFG_BRAKE_COAST (LM_API_CFG | (3 << CAN_MSGID_API_S))
|
||||
#define LM_API_CFG_LIMIT_MODE (LM_API_CFG | (4 << CAN_MSGID_API_S))
|
||||
#define LM_API_CFG_LIMIT_FWD (LM_API_CFG | (5 << CAN_MSGID_API_S))
|
||||
#define LM_API_CFG_LIMIT_REV (LM_API_CFG | (6 << CAN_MSGID_API_S))
|
||||
#define LM_API_CFG_MAX_VOUT (LM_API_CFG | (7 << CAN_MSGID_API_S))
|
||||
#define LM_API_CFG_FAULT_TIME (LM_API_CFG | (8 << CAN_MSGID_API_S))
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Stellaris ACK API definition.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_API_ACK (CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_ACK)
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The 8 bit values that can be returned by a call to LM_API_STATUS_HWVER.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_HWVER_UNKNOWN 0x00
|
||||
#define LM_HWVER_JAG_1_0 0x01
|
||||
#define LM_HWVER_JAG_2_0 0x02
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The 8 bit values that can be returned by a call to LM_API_STATUS_CMODE.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_STATUS_CMODE_VOLT 0x00
|
||||
#define LM_STATUS_CMODE_CURRENT 0x01
|
||||
#define LM_STATUS_CMODE_SPEED 0x02
|
||||
#define LM_STATUS_CMODE_POS 0x03
|
||||
#define LM_STATUS_CMODE_VCOMP 0x04
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The values that can specified as the position or speed reference. Not all
|
||||
// values are valid for each reference; if an invalid reference is set, then
|
||||
// none will be selected.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_REF_ENCODER 0x00
|
||||
#define LM_REF_POT 0x01
|
||||
#define LM_REF_INV_ENCODER 0x02
|
||||
#define LM_REF_QUAD_ENCODER 0x03
|
||||
#define LM_REF_NONE 0xff
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The flags that are used to indicate the currently active fault sources.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_FAULT_CURRENT 0x01
|
||||
#define LM_FAULT_TEMP 0x02
|
||||
#define LM_FAULT_VBUS 0x04
|
||||
#define LM_FAULT_GATE_DRIVE 0x08
|
||||
#define LM_FAULT_COMM 0x10
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The Stellaris Motor Class Periodic Status API definitions.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_API_PSTAT \
|
||||
(CAN_MSGID_MFR_LM | CAN_MSGID_DTYPE_MOTOR | CAN_API_MC_PSTAT)
|
||||
#define LM_API_PSTAT_PER_EN_S0 (LM_API_PSTAT | (0 << CAN_MSGID_API_S))
|
||||
#define LM_API_PSTAT_PER_EN_S1 (LM_API_PSTAT | (1 << CAN_MSGID_API_S))
|
||||
#define LM_API_PSTAT_PER_EN_S2 (LM_API_PSTAT | (2 << CAN_MSGID_API_S))
|
||||
#define LM_API_PSTAT_PER_EN_S3 (LM_API_PSTAT | (3 << CAN_MSGID_API_S))
|
||||
#define LM_API_PSTAT_CFG_S0 (LM_API_PSTAT | (4 << CAN_MSGID_API_S))
|
||||
#define LM_API_PSTAT_CFG_S1 (LM_API_PSTAT | (5 << CAN_MSGID_API_S))
|
||||
#define LM_API_PSTAT_CFG_S2 (LM_API_PSTAT | (6 << CAN_MSGID_API_S))
|
||||
#define LM_API_PSTAT_CFG_S3 (LM_API_PSTAT | (7 << CAN_MSGID_API_S))
|
||||
#define LM_API_PSTAT_DATA_S0 (LM_API_PSTAT | (8 << CAN_MSGID_API_S))
|
||||
#define LM_API_PSTAT_DATA_S1 (LM_API_PSTAT | (9 << CAN_MSGID_API_S))
|
||||
#define LM_API_PSTAT_DATA_S2 (LM_API_PSTAT | (10 << CAN_MSGID_API_S))
|
||||
#define LM_API_PSTAT_DATA_S3 (LM_API_PSTAT | (11 << CAN_MSGID_API_S))
|
||||
|
||||
//*****************************************************************************
|
||||
//
|
||||
// The values that can be used to configure the data the Periodic Status
|
||||
// Message bytes. Bytes of a multi-byte data values are encoded as
|
||||
// little-endian, therefore B0 is the least significant byte.
|
||||
//
|
||||
//*****************************************************************************
|
||||
#define LM_PSTAT_END 0
|
||||
#define LM_PSTAT_VOLTOUT_B0 1
|
||||
#define LM_PSTAT_VOLTOUT_B1 2
|
||||
#define LM_PSTAT_VOLTBUS_B0 3
|
||||
#define LM_PSTAT_VOLTBUS_B1 4
|
||||
#define LM_PSTAT_CURRENT_B0 5
|
||||
#define LM_PSTAT_CURRENT_B1 6
|
||||
#define LM_PSTAT_TEMP_B0 7
|
||||
#define LM_PSTAT_TEMP_B1 8
|
||||
#define LM_PSTAT_POS_B0 9
|
||||
#define LM_PSTAT_POS_B1 10
|
||||
#define LM_PSTAT_POS_B2 11
|
||||
#define LM_PSTAT_POS_B3 12
|
||||
#define LM_PSTAT_SPD_B0 13
|
||||
#define LM_PSTAT_SPD_B1 14
|
||||
#define LM_PSTAT_SPD_B2 15
|
||||
#define LM_PSTAT_SPD_B3 16
|
||||
#define LM_PSTAT_LIMIT_NCLR 17
|
||||
#define LM_PSTAT_LIMIT_CLR 18
|
||||
#define LM_PSTAT_FAULT 19
|
||||
#define LM_PSTAT_STKY_FLT_NCLR 20
|
||||
#define LM_PSTAT_STKY_FLT_CLR 21
|
||||
#define LM_PSTAT_VOUT_B0 22
|
||||
#define LM_PSTAT_VOUT_B1 23
|
||||
#define LM_PSTAT_FLT_COUNT_CURRENT 24
|
||||
#define LM_PSTAT_FLT_COUNT_TEMP 25
|
||||
#define LM_PSTAT_FLT_COUNT_VOLTBUS 26
|
||||
#define LM_PSTAT_FLT_COUNT_GATE 27
|
||||
#define LM_PSTAT_FLT_COUNT_COMM 28
|
||||
#define LM_PSTAT_CANSTS 29
|
||||
#define LM_PSTAT_CANERR_B0 30
|
||||
#define LM_PSTAT_CANERR_B1 31
|
||||
|
||||
#endif // __CAN_PROTO_H__
|
||||
252
DriveBase/wpilib/cpp/current/include/CANJaguar.h
Normal file
252
DriveBase/wpilib/cpp/current/include/CANJaguar.h
Normal file
@ -0,0 +1,252 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2009-2016. 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 "ErrorBase.h"
|
||||
#include "MotorSafety.h"
|
||||
#include "Resource.h"
|
||||
#include "MotorSafetyHelper.h"
|
||||
#include "PIDOutput.h"
|
||||
#include "CANSpeedController.h"
|
||||
#include "HAL/cpp/Semaphore.hpp"
|
||||
#include "HAL/HAL.hpp"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
#include "tables/ITableListener.h"
|
||||
#include "NetworkCommunication/CANSessionMux.h"
|
||||
#include "CAN/can_proto.h"
|
||||
|
||||
#include <atomic>
|
||||
#include "HAL/cpp/priority_mutex.h"
|
||||
#include <memory>
|
||||
#include <utility>
|
||||
#include <sstream>
|
||||
|
||||
/**
|
||||
* Luminary Micro / Vex Robotics Jaguar Speed Control
|
||||
*/
|
||||
class CANJaguar : public MotorSafety,
|
||||
public CANSpeedController,
|
||||
public ErrorBase,
|
||||
public LiveWindowSendable,
|
||||
public ITableListener {
|
||||
public:
|
||||
// The internal PID control loop in the Jaguar runs at 1kHz.
|
||||
static const int32_t kControllerRate = 1000;
|
||||
static constexpr double kApproxBusVoltage = 12.0;
|
||||
|
||||
// Control mode tags
|
||||
/** Sets an encoder as the speed reference only. <br> Passed as the "tag" when
|
||||
* setting the control mode.*/
|
||||
static const struct EncoderStruct {
|
||||
} Encoder;
|
||||
/** Sets a quadrature encoder as the position and speed reference. <br> Passed
|
||||
* as the "tag" when setting the control mode.*/
|
||||
static const struct QuadEncoderStruct {
|
||||
} QuadEncoder;
|
||||
/** Sets a potentiometer as the position reference only. <br> Passed as the
|
||||
* "tag" when setting the control mode. */
|
||||
static const struct PotentiometerStruct {
|
||||
} Potentiometer;
|
||||
|
||||
explicit CANJaguar(uint8_t deviceNumber);
|
||||
virtual ~CANJaguar();
|
||||
|
||||
uint8_t getDeviceNumber() const;
|
||||
uint8_t GetHardwareVersion() const;
|
||||
|
||||
// PIDOutput interface
|
||||
virtual void PIDWrite(float output) override;
|
||||
|
||||
// Control mode methods
|
||||
void EnableControl(double encoderInitialPosition = 0.0);
|
||||
void DisableControl();
|
||||
|
||||
void SetPercentMode();
|
||||
void SetPercentMode(EncoderStruct, uint16_t codesPerRev);
|
||||
void SetPercentMode(QuadEncoderStruct, uint16_t codesPerRev);
|
||||
void SetPercentMode(PotentiometerStruct);
|
||||
|
||||
void SetCurrentMode(double p, double i, double d);
|
||||
void SetCurrentMode(EncoderStruct, uint16_t codesPerRev, double p, double i,
|
||||
double d);
|
||||
void SetCurrentMode(QuadEncoderStruct, uint16_t codesPerRev, double p,
|
||||
double i, double d);
|
||||
void SetCurrentMode(PotentiometerStruct, double p, double i, double d);
|
||||
|
||||
void SetSpeedMode(EncoderStruct, uint16_t codesPerRev, double p, double i,
|
||||
double d);
|
||||
void SetSpeedMode(QuadEncoderStruct, uint16_t codesPerRev, double p, double i,
|
||||
double d);
|
||||
|
||||
void SetPositionMode(QuadEncoderStruct, uint16_t codesPerRev, double p,
|
||||
double i, double d);
|
||||
void SetPositionMode(PotentiometerStruct, double p, double i, double d);
|
||||
|
||||
void SetVoltageMode();
|
||||
void SetVoltageMode(EncoderStruct, uint16_t codesPerRev);
|
||||
void SetVoltageMode(QuadEncoderStruct, uint16_t codesPerRev);
|
||||
void SetVoltageMode(PotentiometerStruct);
|
||||
|
||||
// CANSpeedController interface
|
||||
virtual float Get() const override;
|
||||
virtual void Set(float value, uint8_t syncGroup = 0) override;
|
||||
virtual void Disable() override;
|
||||
virtual void SetP(double p) override;
|
||||
virtual void SetI(double i) override;
|
||||
virtual void SetD(double d) override;
|
||||
virtual void SetPID(double p, double i, double d) override;
|
||||
virtual double GetP() const override;
|
||||
virtual double GetI() const override;
|
||||
virtual double GetD() const override;
|
||||
virtual bool IsModePID(CANSpeedController::ControlMode mode) const override;
|
||||
virtual float GetBusVoltage() const override;
|
||||
virtual float GetOutputVoltage() const override;
|
||||
virtual float GetOutputCurrent() const override;
|
||||
virtual float GetTemperature() const override;
|
||||
virtual double GetPosition() const override;
|
||||
virtual double GetSpeed() const override;
|
||||
virtual bool GetForwardLimitOK() const override;
|
||||
virtual bool GetReverseLimitOK() const override;
|
||||
virtual uint16_t GetFaults() const override;
|
||||
virtual void SetVoltageRampRate(double rampRate) override;
|
||||
virtual uint32_t GetFirmwareVersion() const override;
|
||||
virtual void ConfigNeutralMode(NeutralMode mode) override;
|
||||
virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
|
||||
virtual void ConfigPotentiometerTurns(uint16_t turns) override;
|
||||
virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
|
||||
double reverseLimitPosition) override;
|
||||
virtual void DisableSoftPositionLimits() override;
|
||||
virtual void ConfigLimitMode(LimitMode mode) override;
|
||||
virtual void ConfigForwardLimit(double forwardLimitPosition) override;
|
||||
virtual void ConfigReverseLimit(double reverseLimitPosition) override;
|
||||
virtual void ConfigMaxOutputVoltage(double voltage) override;
|
||||
virtual void ConfigFaultTime(float faultTime) override;
|
||||
virtual void SetControlMode(ControlMode mode);
|
||||
virtual ControlMode GetControlMode() const;
|
||||
|
||||
static void UpdateSyncGroup(uint8_t syncGroup);
|
||||
|
||||
void SetExpiration(float timeout) override;
|
||||
float GetExpiration() const override;
|
||||
bool IsAlive() const override;
|
||||
void StopMotor() override;
|
||||
bool IsSafetyEnabled() const override;
|
||||
void SetSafetyEnabled(bool enabled) override;
|
||||
void GetDescription(std::ostringstream& desc) const override;
|
||||
uint8_t GetDeviceID() const;
|
||||
|
||||
// SpeedController overrides
|
||||
virtual void SetInverted(bool isInverted) override;
|
||||
virtual bool GetInverted() const override;
|
||||
|
||||
protected:
|
||||
// Control mode helpers
|
||||
void SetSpeedReference(uint8_t reference);
|
||||
uint8_t GetSpeedReference() const;
|
||||
|
||||
void SetPositionReference(uint8_t reference);
|
||||
uint8_t GetPositionReference() const;
|
||||
|
||||
uint8_t packPercentage(uint8_t *buffer, double value);
|
||||
uint8_t packFXP8_8(uint8_t *buffer, double value);
|
||||
uint8_t packFXP16_16(uint8_t *buffer, double value);
|
||||
uint8_t packint16_t(uint8_t *buffer, int16_t value);
|
||||
uint8_t packint32_t(uint8_t *buffer, int32_t value);
|
||||
double unpackPercentage(uint8_t *buffer) const;
|
||||
double unpackFXP8_8(uint8_t *buffer) const;
|
||||
double unpackFXP16_16(uint8_t *buffer) const;
|
||||
int16_t unpackint16_t(uint8_t *buffer) const;
|
||||
int32_t unpackint32_t(uint8_t *buffer) const;
|
||||
|
||||
void sendMessage(uint32_t messageID, const uint8_t *data, uint8_t dataSize,
|
||||
int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
|
||||
void requestMessage(uint32_t messageID,
|
||||
int32_t period = CAN_SEND_PERIOD_NO_REPEAT);
|
||||
bool getMessage(uint32_t messageID, uint32_t mask, uint8_t *data,
|
||||
uint8_t *dataSize) const;
|
||||
|
||||
void setupPeriodicStatus();
|
||||
void updatePeriodicStatus() const;
|
||||
|
||||
mutable priority_recursive_mutex m_mutex;
|
||||
|
||||
uint8_t m_deviceNumber;
|
||||
float m_value = 0.0f;
|
||||
|
||||
// Parameters/configuration
|
||||
ControlMode m_controlMode = kPercentVbus;
|
||||
uint8_t m_speedReference = LM_REF_NONE;
|
||||
uint8_t m_positionReference = LM_REF_NONE;
|
||||
double m_p = 0.0;
|
||||
double m_i = 0.0;
|
||||
double m_d = 0.0;
|
||||
NeutralMode m_neutralMode = kNeutralMode_Jumper;
|
||||
uint16_t m_encoderCodesPerRev = 0;
|
||||
uint16_t m_potentiometerTurns = 0;
|
||||
LimitMode m_limitMode = kLimitMode_SwitchInputsOnly;
|
||||
double m_forwardLimit = 0.0;
|
||||
double m_reverseLimit = 0.0;
|
||||
double m_maxOutputVoltage = 30.0;
|
||||
double m_voltageRampRate = 0.0;
|
||||
float m_faultTime = 0.0f;
|
||||
|
||||
// Which parameters have been verified since they were last set?
|
||||
bool m_controlModeVerified = false; // Needs to be verified because it's set in the constructor
|
||||
bool m_speedRefVerified = true;
|
||||
bool m_posRefVerified = true;
|
||||
bool m_pVerified = true;
|
||||
bool m_iVerified = true;
|
||||
bool m_dVerified = true;
|
||||
bool m_neutralModeVerified = true;
|
||||
bool m_encoderCodesPerRevVerified = true;
|
||||
bool m_potentiometerTurnsVerified = true;
|
||||
bool m_forwardLimitVerified = true;
|
||||
bool m_reverseLimitVerified = true;
|
||||
bool m_limitModeVerified = true;
|
||||
bool m_maxOutputVoltageVerified = true;
|
||||
bool m_voltageRampRateVerified = true;
|
||||
bool m_faultTimeVerified = true;
|
||||
|
||||
// Status data
|
||||
mutable float m_busVoltage = 0.0f;
|
||||
mutable float m_outputVoltage = 0.0f;
|
||||
mutable float m_outputCurrent = 0.0f;
|
||||
mutable float m_temperature = 0.0f;
|
||||
mutable double m_position = 0.0;
|
||||
mutable double m_speed = 0.0;
|
||||
mutable uint8_t m_limits = 0x00;
|
||||
mutable uint16_t m_faults = 0x0000;
|
||||
uint32_t m_firmwareVersion = 0;
|
||||
uint8_t m_hardwareVersion = 0;
|
||||
|
||||
// Which periodic status messages have we received at least once?
|
||||
mutable std::atomic<bool> m_receivedStatusMessage0{false};
|
||||
mutable std::atomic<bool> m_receivedStatusMessage1{false};
|
||||
mutable std::atomic<bool> m_receivedStatusMessage2{false};
|
||||
|
||||
bool m_controlEnabled = false;
|
||||
|
||||
void verify();
|
||||
|
||||
std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
|
||||
|
||||
void ValueChanged(ITable* source, llvm::StringRef key,
|
||||
std::shared_ptr<nt::Value> value, bool isNew) 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;
|
||||
|
||||
std::shared_ptr<ITable> m_table;
|
||||
|
||||
private:
|
||||
void InitCANJaguar();
|
||||
bool m_isInverted = false;
|
||||
};
|
||||
101
DriveBase/wpilib/cpp/current/include/CANSpeedController.h
Normal file
101
DriveBase/wpilib/cpp/current/include/CANSpeedController.h
Normal file
@ -0,0 +1,101 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2014-2016. 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 "SpeedController.h"
|
||||
|
||||
/**
|
||||
* Interface for "smart" CAN-based speed controllers.
|
||||
* @see CANJaguar
|
||||
* @see CANTalon
|
||||
*/
|
||||
class CANSpeedController : public SpeedController {
|
||||
public:
|
||||
enum ControlMode {
|
||||
kPercentVbus = 0,
|
||||
kCurrent = 1,
|
||||
kSpeed = 2,
|
||||
kPosition = 3,
|
||||
kVoltage = 4,
|
||||
kFollower = 5, // Not supported in Jaguar.
|
||||
kMotionProfile = 6, // Not supported in Jaguar.
|
||||
};
|
||||
|
||||
// Helper function for the ControlMode enum
|
||||
virtual bool IsModePID(ControlMode mode) const = 0;
|
||||
|
||||
enum Faults {
|
||||
kCurrentFault = 1,
|
||||
kTemperatureFault = 2,
|
||||
kBusVoltageFault = 4,
|
||||
kGateDriverFault = 8,
|
||||
/* SRX extensions */
|
||||
kFwdLimitSwitch = 0x10,
|
||||
kRevLimitSwitch = 0x20,
|
||||
kFwdSoftLimit = 0x40,
|
||||
kRevSoftLimit = 0x80,
|
||||
};
|
||||
|
||||
enum Limits { kForwardLimit = 1, kReverseLimit = 2 };
|
||||
|
||||
enum NeutralMode {
|
||||
/** Use the NeutralMode that is set by the jumper wire on the CAN device */
|
||||
kNeutralMode_Jumper = 0,
|
||||
/** Stop the motor's rotation by applying a force. */
|
||||
kNeutralMode_Brake = 1,
|
||||
/** Do not attempt to stop the motor. Instead allow it to coast to a stop
|
||||
without applying resistance. */
|
||||
kNeutralMode_Coast = 2
|
||||
};
|
||||
|
||||
enum LimitMode {
|
||||
/** Only use switches for limits */
|
||||
kLimitMode_SwitchInputsOnly = 0,
|
||||
/** Use both switches and soft limits */
|
||||
kLimitMode_SoftPositionLimits = 1,
|
||||
/* SRX extensions */
|
||||
/** Disable switches and disable soft limits */
|
||||
kLimitMode_SrxDisableSwitchInputs = 2,
|
||||
};
|
||||
|
||||
virtual float Get() const = 0;
|
||||
virtual void Set(float value, uint8_t syncGroup = 0) = 0;
|
||||
virtual void Disable() = 0;
|
||||
virtual void SetP(double p) = 0;
|
||||
virtual void SetI(double i) = 0;
|
||||
virtual void SetD(double d) = 0;
|
||||
virtual void SetPID(double p, double i, double d) = 0;
|
||||
virtual double GetP() const = 0;
|
||||
virtual double GetI() const = 0;
|
||||
virtual double GetD() const = 0;
|
||||
virtual float GetBusVoltage() const = 0;
|
||||
virtual float GetOutputVoltage() const = 0;
|
||||
virtual float GetOutputCurrent() const = 0;
|
||||
virtual float GetTemperature() const = 0;
|
||||
virtual double GetPosition() const = 0;
|
||||
virtual double GetSpeed() const = 0;
|
||||
virtual bool GetForwardLimitOK() const = 0;
|
||||
virtual bool GetReverseLimitOK() const = 0;
|
||||
virtual uint16_t GetFaults() const = 0;
|
||||
virtual void SetVoltageRampRate(double rampRate) = 0;
|
||||
virtual uint32_t GetFirmwareVersion() const = 0;
|
||||
virtual void ConfigNeutralMode(NeutralMode mode) = 0;
|
||||
virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) = 0;
|
||||
virtual void ConfigPotentiometerTurns(uint16_t turns) = 0;
|
||||
virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
|
||||
double reverseLimitPosition) = 0;
|
||||
virtual void DisableSoftPositionLimits() = 0;
|
||||
virtual void ConfigLimitMode(LimitMode mode) = 0;
|
||||
virtual void ConfigForwardLimit(double forwardLimitPosition) = 0;
|
||||
virtual void ConfigReverseLimit(double reverseLimitPosition) = 0;
|
||||
virtual void ConfigMaxOutputVoltage(double voltage) = 0;
|
||||
virtual void ConfigFaultTime(float faultTime) = 0;
|
||||
// Hold off on interface until we figure out ControlMode enums.
|
||||
// virtual void SetControlMode(ControlMode mode) = 0;
|
||||
// virtual ControlMode GetControlMode() const = 0;
|
||||
};
|
||||
528
DriveBase/wpilib/cpp/current/include/CANTalon.h
Normal file
528
DriveBase/wpilib/cpp/current/include/CANTalon.h
Normal file
@ -0,0 +1,528 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2014-2016. 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 "SafePWM.h"
|
||||
#include "CANSpeedController.h"
|
||||
#include "PIDOutput.h"
|
||||
#include "PIDSource.h"
|
||||
#include "PIDInterface.h"
|
||||
#include "HAL/CanTalonSRX.h"
|
||||
#include "MotorSafetyHelper.h"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
#include "tables/ITable.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
/**
|
||||
* CTRE Talon SRX Speed Controller with CAN Control
|
||||
*/
|
||||
class CANTalon : public MotorSafety,
|
||||
public CANSpeedController,
|
||||
public ErrorBase,
|
||||
public LiveWindowSendable,
|
||||
public ITableListener,
|
||||
public PIDSource,
|
||||
public PIDInterface {
|
||||
public:
|
||||
enum FeedbackDevice {
|
||||
QuadEncoder = 0,
|
||||
AnalogPot = 2,
|
||||
AnalogEncoder = 3,
|
||||
EncRising = 4,
|
||||
EncFalling = 5,
|
||||
CtreMagEncoder_Relative = 6, //!< Cross The Road Electronics Magnetic Encoder in Absolute/PulseWidth Mode
|
||||
CtreMagEncoder_Absolute = 7, //!< Cross The Road Electronics Magnetic Encoder in Relative/Quadrature Mode
|
||||
PulseWidth = 8,
|
||||
};
|
||||
/**
|
||||
* Depending on the sensor type, Talon can determine if sensor is plugged in ot not.
|
||||
*/
|
||||
enum FeedbackDeviceStatus {
|
||||
FeedbackStatusUnknown = 0, //!< Sensor status could not be determined. Not all sensors can do this.
|
||||
FeedbackStatusPresent = 1, //!< Sensor is present and working okay.
|
||||
FeedbackStatusNotPresent = 2, //!< Sensor is not present, not plugged in, not powered, etc...
|
||||
};
|
||||
enum StatusFrameRate {
|
||||
StatusFrameRateGeneral = 0,
|
||||
StatusFrameRateFeedback = 1,
|
||||
StatusFrameRateQuadEncoder = 2,
|
||||
StatusFrameRateAnalogTempVbat = 3,
|
||||
StatusFrameRatePulseWidthMeas = 4,
|
||||
};
|
||||
/**
|
||||
* Enumerated types for Motion Control Set Values.
|
||||
* When in Motion Profile control mode, these constants are paseed
|
||||
* into set() to manipulate the motion profile executer.
|
||||
* When changing modes, be sure to read the value back using getMotionProfileStatus()
|
||||
* to ensure changes in output take effect before performing buffering actions.
|
||||
* Disable will signal Talon to put motor output into neutral drive.
|
||||
* Talon will stop processing motion profile points. This means the buffer is
|
||||
* effectively disconnected from the executer, allowing the robot to gracefully
|
||||
* clear and push new traj points. isUnderrun will get cleared.
|
||||
* The active trajectory is also cleared.
|
||||
* Enable will signal Talon to pop a trajectory point from it's buffer and process it.
|
||||
* If the active trajectory is empty, Talon will shift in the next point.
|
||||
* If the active traj is empty, and so is the buffer, the motor drive is neutral and
|
||||
* isUnderrun is set. When active traj times out, and buffer has at least one point,
|
||||
* Talon shifts in next one, and isUnderrun is cleared. When active traj times out,
|
||||
* and buffer is empty, Talon keeps processing active traj and sets IsUnderrun.
|
||||
* Hold will signal Talon keep processing the active trajectory indefinitely.
|
||||
* If the active traj is cleared, Talon will neutral motor drive. Otherwise
|
||||
* Talon will keep processing the active traj but it will not shift in
|
||||
* points from the buffer. This means the buffer is effectively disconnected
|
||||
* from the executer, allowing the robot to gracefully clear and push
|
||||
* new traj points.
|
||||
* isUnderrun is set if active traj is empty, otherwise it is cleared.
|
||||
* isLast signal is also cleared.
|
||||
*
|
||||
* Typical workflow:
|
||||
* set(Disable),
|
||||
* Confirm Disable takes effect,
|
||||
* clear buffer and push buffer points,
|
||||
* set(Enable) when enough points have been pushed to ensure no underruns,
|
||||
* wait for MP to finish or decide abort,
|
||||
* If MP finished gracefully set(Hold) to hold position servo and disconnect buffer,
|
||||
* If MP is being aborted set(Disable) to neutral the motor and disconnect buffer,
|
||||
* Confirm mode takes effect,
|
||||
* clear buffer and push buffer points, and rinse-repeat.
|
||||
*/
|
||||
enum SetValueMotionProfile {
|
||||
SetValueMotionProfileDisable = 0,
|
||||
SetValueMotionProfileEnable = 1,
|
||||
SetValueMotionProfileHold = 2,
|
||||
};
|
||||
/**
|
||||
* Motion Profile Trajectory Point
|
||||
* This is simply a data transer object.
|
||||
*/
|
||||
struct TrajectoryPoint {
|
||||
double position; //!< The position to servo to.
|
||||
double velocity; //!< The velocity to feed-forward.
|
||||
/**
|
||||
* Time in milliseconds to process this point.
|
||||
* Value should be between 1ms and 255ms. If value is zero
|
||||
* then Talon will default to 1ms. If value exceeds 255ms API will cap it.
|
||||
*/
|
||||
unsigned int timeDurMs;
|
||||
/**
|
||||
* Which slot to get PIDF gains.
|
||||
* PID is used for position servo.
|
||||
* F is used as the Kv constant for velocity feed-forward.
|
||||
* Typically this is hardcoded to the a particular slot, but you are free
|
||||
* gain schedule if need be.
|
||||
*/
|
||||
unsigned int profileSlotSelect;
|
||||
/**
|
||||
* Set to true to only perform the velocity feed-forward and not perform
|
||||
* position servo. This is useful when learning how the position servo
|
||||
* changes the motor response. The same could be accomplish by clearing the
|
||||
* PID gains, however this is synchronous the streaming, and doesn't require restoing
|
||||
* gains when finished.
|
||||
*
|
||||
* Additionaly setting this basically gives you direct control of the motor output
|
||||
* since motor output = targetVelocity X Kv, where Kv is our Fgain.
|
||||
* This means you can also scheduling straight-throttle curves without relying on
|
||||
* a sensor.
|
||||
*/
|
||||
bool velocityOnly;
|
||||
/**
|
||||
* Set to true to signal Talon that this is the final point, so do not
|
||||
* attempt to pop another trajectory point from out of the Talon buffer.
|
||||
* Instead continue processing this way point. Typically the velocity
|
||||
* member variable should be zero so that the motor doesn't spin indefinitely.
|
||||
*/
|
||||
bool isLastPoint;
|
||||
/**
|
||||
* Set to true to signal Talon to zero the selected sensor.
|
||||
* When generating MPs, one simple method is to make the first target position zero,
|
||||
* and the final target position the target distance from the current position.
|
||||
* Then when you fire the MP, the current position gets set to zero.
|
||||
* If this is the intent, you can set zeroPos on the first trajectory point.
|
||||
*
|
||||
* Otherwise you can leave this false for all points, and offset the positions
|
||||
* of all trajectory points so they are correct.
|
||||
*/
|
||||
bool zeroPos;
|
||||
};
|
||||
/**
|
||||
* Motion Profile Status
|
||||
* This is simply a data transer object.
|
||||
*/
|
||||
struct MotionProfileStatus {
|
||||
/**
|
||||
* The available empty slots in the trajectory buffer.
|
||||
*
|
||||
* The robot API holds a "top buffer" of trajectory points, so your applicaion
|
||||
* can dump several points at once. The API will then stream them into the Talon's
|
||||
* low-level buffer, allowing the Talon to act on them.
|
||||
*/
|
||||
unsigned int topBufferRem;
|
||||
/**
|
||||
* The number of points in the top trajectory buffer.
|
||||
*/
|
||||
unsigned int topBufferCnt;
|
||||
/**
|
||||
* The number of points in the low level Talon buffer.
|
||||
*/
|
||||
unsigned int btmBufferCnt;
|
||||
/**
|
||||
* Set if isUnderrun ever gets set.
|
||||
* Only is cleared by clearMotionProfileHasUnderrun() to ensure
|
||||
* robot logic can react or instrument it.
|
||||
* @see clearMotionProfileHasUnderrun()
|
||||
*/
|
||||
bool hasUnderrun;
|
||||
/**
|
||||
* This is set if Talon needs to shift a point from its buffer into
|
||||
* the active trajectory point however the buffer is empty. This gets cleared
|
||||
* automatically when is resolved.
|
||||
*/
|
||||
bool isUnderrun;
|
||||
/**
|
||||
* True if the active trajectory point has not empty, false otherwise.
|
||||
* The members in activePoint are only valid if this signal is set.
|
||||
*/
|
||||
bool activePointValid;
|
||||
/**
|
||||
* The number of points in the low level Talon buffer.
|
||||
*/
|
||||
TrajectoryPoint activePoint;
|
||||
/**
|
||||
* The current output mode of the motion profile executer (disabled, enabled, or hold).
|
||||
* When changing the set() value in MP mode, it's important to check this signal to
|
||||
* confirm the change takes effect before interacting with the top buffer.
|
||||
*/
|
||||
SetValueMotionProfile outputEnable;
|
||||
};
|
||||
explicit CANTalon(int deviceNumber);
|
||||
explicit CANTalon(int deviceNumber, int controlPeriodMs);
|
||||
DEFAULT_MOVE_CONSTRUCTOR(CANTalon);
|
||||
virtual ~CANTalon();
|
||||
|
||||
// PIDOutput interface
|
||||
virtual void PIDWrite(float output) override;
|
||||
|
||||
// PIDSource interface
|
||||
virtual double PIDGet() override;
|
||||
|
||||
// MotorSafety interface
|
||||
virtual void SetExpiration(float timeout) override;
|
||||
virtual float GetExpiration() const override;
|
||||
virtual bool IsAlive() const override;
|
||||
virtual void StopMotor() override;
|
||||
virtual void SetSafetyEnabled(bool enabled) override;
|
||||
virtual bool IsSafetyEnabled() const override;
|
||||
virtual void GetDescription(std::ostringstream& desc) const override;
|
||||
|
||||
// CANSpeedController interface
|
||||
virtual float Get() const override;
|
||||
virtual void Set(float value, uint8_t syncGroup = 0) override;
|
||||
virtual void Reset() override;
|
||||
virtual void SetSetpoint(float value) override;
|
||||
virtual void Disable() override;
|
||||
virtual void EnableControl();
|
||||
virtual void Enable() override;
|
||||
virtual void SetP(double p) override;
|
||||
virtual void SetI(double i) override;
|
||||
virtual void SetD(double d) override;
|
||||
void SetF(double f);
|
||||
void SetIzone(unsigned iz);
|
||||
virtual void SetPID(double p, double i, double d) override;
|
||||
virtual void SetPID(double p, double i, double d, double f);
|
||||
virtual double GetP() const override;
|
||||
virtual double GetI() const override;
|
||||
virtual double GetD() const override;
|
||||
virtual double GetF() const;
|
||||
virtual bool IsModePID(CANSpeedController::ControlMode mode) const override;
|
||||
virtual float GetBusVoltage() const override;
|
||||
virtual float GetOutputVoltage() const override;
|
||||
virtual float GetOutputCurrent() const override;
|
||||
virtual float GetTemperature() const override;
|
||||
void SetPosition(double pos);
|
||||
virtual double GetPosition() const override;
|
||||
virtual double GetSpeed() const override;
|
||||
virtual int GetClosedLoopError() const;
|
||||
virtual void SetAllowableClosedLoopErr(uint32_t allowableCloseLoopError);
|
||||
virtual int GetAnalogIn() const;
|
||||
virtual void SetAnalogPosition(int newPosition);
|
||||
virtual int GetAnalogInRaw() const;
|
||||
virtual int GetAnalogInVel() const;
|
||||
virtual int GetEncPosition() const;
|
||||
virtual void SetEncPosition(int);
|
||||
virtual int GetEncVel() const;
|
||||
int GetPinStateQuadA() const;
|
||||
int GetPinStateQuadB() const;
|
||||
int GetPinStateQuadIdx() const;
|
||||
int IsFwdLimitSwitchClosed() const;
|
||||
int IsRevLimitSwitchClosed() const;
|
||||
int GetNumberOfQuadIdxRises() const;
|
||||
void SetNumberOfQuadIdxRises(int rises);
|
||||
virtual int GetPulseWidthPosition() const;
|
||||
virtual void SetPulseWidthPosition(int newpos);
|
||||
virtual int GetPulseWidthVelocity() const;
|
||||
virtual int GetPulseWidthRiseToFallUs() const;
|
||||
virtual int GetPulseWidthRiseToRiseUs() const;
|
||||
virtual FeedbackDeviceStatus IsSensorPresent(FeedbackDevice feedbackDevice)const;
|
||||
virtual bool GetForwardLimitOK() const override;
|
||||
virtual bool GetReverseLimitOK() const override;
|
||||
virtual uint16_t GetFaults() const override;
|
||||
uint16_t GetStickyFaults() const;
|
||||
void ClearStickyFaults();
|
||||
virtual void SetVoltageRampRate(double rampRate) override;
|
||||
virtual void SetVoltageCompensationRampRate(double rampRate);
|
||||
virtual uint32_t GetFirmwareVersion() const override;
|
||||
virtual void ConfigNeutralMode(NeutralMode mode) override;
|
||||
virtual void ConfigEncoderCodesPerRev(uint16_t codesPerRev) override;
|
||||
virtual void ConfigPotentiometerTurns(uint16_t turns) override;
|
||||
virtual void ConfigSoftPositionLimits(double forwardLimitPosition,
|
||||
double reverseLimitPosition) override;
|
||||
virtual void DisableSoftPositionLimits() override;
|
||||
virtual void ConfigLimitMode(LimitMode mode) override;
|
||||
virtual void ConfigForwardLimit(double forwardLimitPosition) override;
|
||||
virtual void ConfigReverseLimit(double reverseLimitPosition) override;
|
||||
/**
|
||||
* Change the fwd limit switch setting to normally open or closed.
|
||||
* Talon will disable momentarilly if the Talon's current setting
|
||||
* is dissimilar to the caller's requested setting.
|
||||
*
|
||||
* Since Talon saves setting to flash this should only affect
|
||||
* a given Talon initially during robot install.
|
||||
*
|
||||
* @param normallyOpen true for normally open. false for normally closed.
|
||||
*/
|
||||
void ConfigFwdLimitSwitchNormallyOpen(bool normallyOpen);
|
||||
/**
|
||||
* Change the rev limit switch setting to normally open or closed.
|
||||
* Talon will disable momentarilly if the Talon's current setting
|
||||
* is dissimilar to the caller's requested setting.
|
||||
*
|
||||
* Since Talon saves setting to flash this should only affect
|
||||
* a given Talon initially during robot install.
|
||||
*
|
||||
* @param normallyOpen true for normally open. false for normally closed.
|
||||
*/
|
||||
void ConfigRevLimitSwitchNormallyOpen(bool normallyOpen);
|
||||
virtual void ConfigMaxOutputVoltage(double voltage) override;
|
||||
void ConfigPeakOutputVoltage(double forwardVoltage,double reverseVoltage);
|
||||
void ConfigNominalOutputVoltage(double forwardVoltage,double reverseVoltage);
|
||||
/**
|
||||
* Enables Talon SRX to automatically zero the Sensor Position whenever an
|
||||
* edge is detected on the index signal.
|
||||
* @param enable boolean input, pass true to enable feature or false to disable.
|
||||
* @param risingEdge boolean input, pass true to clear the position on rising edge,
|
||||
* pass false to clear the position on falling edge.
|
||||
*/
|
||||
void EnableZeroSensorPositionOnIndex(bool enable, bool risingEdge);
|
||||
void ConfigSetParameter(uint32_t paramEnum, double value);
|
||||
bool GetParameter(uint32_t paramEnum, double & dvalue) const;
|
||||
|
||||
virtual void ConfigFaultTime(float faultTime) override;
|
||||
virtual void SetControlMode(ControlMode mode);
|
||||
void SetFeedbackDevice(FeedbackDevice device);
|
||||
void SetStatusFrameRateMs(StatusFrameRate stateFrame, int periodMs);
|
||||
virtual ControlMode GetControlMode() const;
|
||||
void SetSensorDirection(bool reverseSensor);
|
||||
void SetClosedLoopOutputDirection(bool reverseOutput);
|
||||
void SetCloseLoopRampRate(double rampRate);
|
||||
void SelectProfileSlot(int slotIdx);
|
||||
int GetIzone() const;
|
||||
int GetIaccum() const;
|
||||
void ClearIaccum();
|
||||
int GetBrakeEnableDuringNeutral() const;
|
||||
|
||||
bool IsControlEnabled() const;
|
||||
bool IsEnabled() const override;
|
||||
double GetSetpoint() const override;
|
||||
|
||||
|
||||
/**
|
||||
* Calling application can opt to speed up the handshaking between the robot API and the Talon to increase the
|
||||
* download rate of the Talon's Motion Profile. Ideally the period should be no more than half the period
|
||||
* of a trajectory point.
|
||||
*/
|
||||
void ChangeMotionControlFramePeriod(int periodMs);
|
||||
|
||||
/**
|
||||
* Clear the buffered motion profile in both Talon RAM (bottom), and in the API (top).
|
||||
* Be sure to check GetMotionProfileStatus() to know when the buffer is actually cleared.
|
||||
*/
|
||||
void ClearMotionProfileTrajectories();
|
||||
|
||||
/**
|
||||
* Retrieve just the buffer count for the api-level (top) buffer.
|
||||
* This routine performs no CAN or data structure lookups, so its fast and ideal
|
||||
* if caller needs to quickly poll the progress of trajectory points being emptied
|
||||
* into Talon's RAM. Otherwise just use GetMotionProfileStatus.
|
||||
* @return number of trajectory points in the top buffer.
|
||||
*/
|
||||
int GetMotionProfileTopLevelBufferCount();
|
||||
|
||||
/**
|
||||
* Push another trajectory point into the top level buffer (which is emptied into
|
||||
* the Talon's bottom buffer as room allows).
|
||||
* @param trajPt the trajectory point to insert into buffer.
|
||||
* @return true if trajectory point push ok. CTR_BufferFull if buffer is full
|
||||
* due to kMotionProfileTopBufferCapacity.
|
||||
*/
|
||||
bool PushMotionProfileTrajectory(const TrajectoryPoint & trajPt);
|
||||
|
||||
/**
|
||||
* @return true if api-level (top) buffer is full.
|
||||
*/
|
||||
bool IsMotionProfileTopLevelBufferFull();
|
||||
|
||||
/**
|
||||
* This must be called periodically to funnel the trajectory points from the API's top level buffer to
|
||||
* the Talon's bottom level buffer. Recommendation is to call this twice as fast as the executation rate of the motion profile.
|
||||
* So if MP is running with 20ms trajectory points, try calling this routine every 10ms. All motion profile functions are thread-safe
|
||||
* through the use of a mutex, so there is no harm in having the caller utilize threading.
|
||||
*/
|
||||
void ProcessMotionProfileBuffer();
|
||||
|
||||
/**
|
||||
* Retrieve all status information.
|
||||
* Since this all comes from one CAN frame, its ideal to have one routine to retrieve the frame once and decode everything.
|
||||
* @param [out] motionProfileStatus contains all progress information on the currently running MP.
|
||||
*/
|
||||
void GetMotionProfileStatus(MotionProfileStatus & motionProfileStatus);
|
||||
|
||||
/**
|
||||
* Clear the hasUnderrun flag in Talon's Motion Profile Executer when MPE is ready for another point,
|
||||
* but the low level buffer is empty.
|
||||
*
|
||||
* Once the Motion Profile Executer sets the hasUnderrun flag, it stays set until
|
||||
* Robot Application clears it with this routine, which ensures Robot Application
|
||||
* gets a chance to instrument or react. Caller could also check the isUnderrun flag
|
||||
* which automatically clears when fault condition is removed.
|
||||
*/
|
||||
void ClearMotionProfileHasUnderrun();
|
||||
|
||||
// LiveWindow stuff.
|
||||
void ValueChanged(ITable* source, llvm::StringRef key,
|
||||
std::shared_ptr<nt::Value> value, bool isNew) 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;
|
||||
|
||||
// SpeedController overrides
|
||||
virtual void SetInverted(bool isInverted) override;
|
||||
virtual bool GetInverted() const override;
|
||||
|
||||
private:
|
||||
// Values for various modes as is sent in the CAN packets for the Talon.
|
||||
enum TalonControlMode {
|
||||
kThrottle = 0,
|
||||
kFollowerMode = 5,
|
||||
kVoltageMode = 4,
|
||||
kPositionMode = 1,
|
||||
kSpeedMode = 2,
|
||||
kCurrentMode = 3,
|
||||
kMotionProfileMode = 6,
|
||||
kDisabled = 15
|
||||
};
|
||||
|
||||
int m_deviceNumber;
|
||||
std::unique_ptr<CanTalonSRX> m_impl;
|
||||
std::unique_ptr<MotorSafetyHelper> m_safetyHelper;
|
||||
int m_profile = 0; // Profile from CANTalon to use. Set to zero until we can
|
||||
// actually test this.
|
||||
|
||||
bool m_controlEnabled = true;
|
||||
ControlMode m_controlMode = kPercentVbus;
|
||||
TalonControlMode m_sendMode;
|
||||
|
||||
double m_setPoint = 0;
|
||||
/**
|
||||
* Encoder CPR, counts per rotations, also called codes per revoluion.
|
||||
* Default value of zero means the API behaves as it did during the 2015 season, each position
|
||||
* unit is a single pulse and there are four pulses per count (4X).
|
||||
* Caller can use ConfigEncoderCodesPerRev to set the quadrature encoder CPR.
|
||||
*/
|
||||
uint32_t m_codesPerRev = 0;
|
||||
/**
|
||||
* Number of turns per rotation. For example, a 10-turn pot spins ten full rotations from
|
||||
* a wiper voltage of zero to 3.3 volts. Therefore knowing the
|
||||
* number of turns a full voltage sweep represents is necessary for calculating rotations
|
||||
* and velocity.
|
||||
* A default value of zero means the API behaves as it did during the 2015 season, there are 1024
|
||||
* position units from zero to 3.3V.
|
||||
*/
|
||||
uint32_t m_numPotTurns = 0;
|
||||
/**
|
||||
* Although the Talon handles feedback selection, caching the feedback selection is helpful at the API level
|
||||
* for scaling into rotations and RPM.
|
||||
*/
|
||||
FeedbackDevice m_feedbackDevice = QuadEncoder;
|
||||
|
||||
static const unsigned int kDelayForSolicitedSignalsUs = 4000;
|
||||
/**
|
||||
* @param devToLookup FeedbackDevice to lookup the scalar for. Because Talon
|
||||
* allows multiple sensors to be attached simultaneously, caller must
|
||||
* specify which sensor to lookup.
|
||||
* @return The number of native Talon units per rotation of the selected sensor.
|
||||
* Zero if the necessary sensor information is not available.
|
||||
* @see ConfigEncoderCodesPerRev
|
||||
* @see ConfigPotentiometerTurns
|
||||
*/
|
||||
double GetNativeUnitsPerRotationScalar(FeedbackDevice devToLookup)const;
|
||||
/**
|
||||
* Fixup the sendMode so Set() serializes the correct demand value.
|
||||
* Also fills the modeSelecet in the control frame to disabled.
|
||||
* @param mode Control mode to ultimately enter once user calls Set().
|
||||
* @see Set()
|
||||
*/
|
||||
void ApplyControlMode(CANSpeedController::ControlMode mode);
|
||||
/**
|
||||
* @param fullRotations double precision value representing number of rotations of selected feedback sensor.
|
||||
* If user has never called the config routine for the selected sensor, then the caller
|
||||
* is likely passing rotations in engineering units already, in which case it is returned
|
||||
* as is.
|
||||
* @see ConfigPotentiometerTurns
|
||||
* @see ConfigEncoderCodesPerRev
|
||||
* @return fullRotations in native engineering units of the Talon SRX firmware.
|
||||
*/
|
||||
int32_t ScaleRotationsToNativeUnits(FeedbackDevice devToLookup, double fullRotations) const;
|
||||
/**
|
||||
* @param rpm double precision value representing number of rotations per minute of selected feedback sensor.
|
||||
* If user has never called the config routine for the selected sensor, then the caller
|
||||
* is likely passing rotations in engineering units already, in which case it is returned
|
||||
* as is.
|
||||
* @see ConfigPotentiometerTurns
|
||||
* @see ConfigEncoderCodesPerRev
|
||||
* @return sensor velocity in native engineering units of the Talon SRX firmware.
|
||||
*/
|
||||
int32_t ScaleVelocityToNativeUnits(FeedbackDevice devToLookup, double rpm) const;
|
||||
/**
|
||||
* @param nativePos integral position of the feedback sensor in native Talon SRX units.
|
||||
* If user has never called the config routine for the selected sensor, then the return
|
||||
* will be in TALON SRX units as well to match the behavior in the 2015 season.
|
||||
* @see ConfigPotentiometerTurns
|
||||
* @see ConfigEncoderCodesPerRev
|
||||
* @return double precision number of rotations, unless config was never performed.
|
||||
*/
|
||||
double ScaleNativeUnitsToRotations(FeedbackDevice devToLookup, int32_t nativePos) const;
|
||||
/**
|
||||
* @param nativeVel integral velocity of the feedback sensor in native Talon SRX units.
|
||||
* If user has never called the config routine for the selected sensor, then the return
|
||||
* will be in TALON SRX units as well to match the behavior in the 2015 season.
|
||||
* @see ConfigPotentiometerTurns
|
||||
* @see ConfigEncoderCodesPerRev
|
||||
* @return double precision of sensor velocity in RPM, unless config was never performed.
|
||||
*/
|
||||
double ScaleNativeUnitsToRpm(FeedbackDevice devToLookup, int32_t nativeVel) const;
|
||||
|
||||
// LiveWindow stuff.
|
||||
std::shared_ptr<ITable> m_table;
|
||||
bool m_isInverted;
|
||||
|
||||
HasBeenMoved m_hasBeenMoved;
|
||||
};
|
||||
83
DriveBase/wpilib/cpp/current/include/CameraServer.h
Normal file
83
DriveBase/wpilib/cpp/current/include/CameraServer.h
Normal file
@ -0,0 +1,83 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2014-2016. 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 "USBCamera.h"
|
||||
#include "ErrorBase.h"
|
||||
#include "nivision.h"
|
||||
#include "NIIMAQdx.h"
|
||||
|
||||
#include "HAL/cpp/priority_mutex.h"
|
||||
#include <thread>
|
||||
#include <memory>
|
||||
#include <condition_variable>
|
||||
#include <tuple>
|
||||
#include <vector>
|
||||
|
||||
class CameraServer : public ErrorBase {
|
||||
private:
|
||||
static constexpr uint16_t kPort = 1180;
|
||||
static constexpr uint8_t kMagicNumber[] = {0x01, 0x00, 0x00, 0x00};
|
||||
static constexpr uint32_t kSize640x480 = 0;
|
||||
static constexpr uint32_t kSize320x240 = 1;
|
||||
static constexpr uint32_t kSize160x120 = 2;
|
||||
static constexpr int32_t kHardwareCompression = -1;
|
||||
static constexpr uint32_t kMaxImageSize = 200000;
|
||||
|
||||
protected:
|
||||
CameraServer();
|
||||
|
||||
std::shared_ptr<USBCamera> m_camera;
|
||||
std::thread m_serverThread;
|
||||
std::thread m_captureThread;
|
||||
priority_recursive_mutex m_imageMutex;
|
||||
std::condition_variable_any m_newImageVariable;
|
||||
std::vector<uint8_t*> m_dataPool;
|
||||
unsigned int m_quality;
|
||||
bool m_autoCaptureStarted;
|
||||
bool m_hwClient;
|
||||
std::tuple<uint8_t*, unsigned int, unsigned int, bool> m_imageData;
|
||||
|
||||
void Serve();
|
||||
void AutoCapture();
|
||||
void SetImageData(uint8_t* data, unsigned int size, unsigned int start = 0,
|
||||
bool imaqData = false);
|
||||
void FreeImageData(
|
||||
std::tuple<uint8_t*, unsigned int, unsigned int, bool> imageData);
|
||||
|
||||
struct Request {
|
||||
uint32_t fps;
|
||||
int32_t compression;
|
||||
uint32_t size;
|
||||
};
|
||||
|
||||
public:
|
||||
static CameraServer* GetInstance();
|
||||
void SetImage(Image const* image);
|
||||
|
||||
void StartAutomaticCapture(
|
||||
char const* cameraName = USBCamera::kDefaultCameraName);
|
||||
|
||||
/**
|
||||
* Start automatically capturing images to send to the dashboard.
|
||||
*
|
||||
* You should call this method to just see a camera feed on the
|
||||
* dashboard without doing any vision processing on the roboRIO.
|
||||
* {@link #SetImage} should not be called after this is called.
|
||||
*
|
||||
* @param camera The camera interface (eg. USBCamera)
|
||||
*/
|
||||
void StartAutomaticCapture(std::shared_ptr<USBCamera> camera);
|
||||
|
||||
bool IsAutoCaptureStarted();
|
||||
|
||||
void SetQuality(unsigned int quality);
|
||||
unsigned int GetQuality();
|
||||
|
||||
void SetSize(unsigned int size);
|
||||
};
|
||||
45
DriveBase/wpilib/cpp/current/include/ChipObject.h
Normal file
45
DriveBase/wpilib/cpp/current/include/ChipObject.h
Normal file
@ -0,0 +1,45 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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
|
||||
#pragma GCC diagnostic push
|
||||
#pragma GCC diagnostic ignored "-Wpedantic"
|
||||
#pragma GCC diagnostic ignored "-Wignored-qualifiers"
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "FRC_FPGA_ChipObject/RoboRIO_FRC_ChipObject_Aliases.h"
|
||||
#include "FRC_FPGA_ChipObject/tDMAChannelDescriptor.h"
|
||||
#include "FRC_FPGA_ChipObject/tDMAManager.h"
|
||||
#include "FRC_FPGA_ChipObject/tInterruptManager.h"
|
||||
#include "FRC_FPGA_ChipObject/tSystem.h"
|
||||
#include "FRC_FPGA_ChipObject/tSystemInterface.h"
|
||||
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/nInterfaceGlobals.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccel.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAccumulator.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAI.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAlarm.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAnalogTrigger.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tAO.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tBIST.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tCounter.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDIO.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tDMA.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tEncoder.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tGlobal.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tInterrupt.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPower.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tPWM.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tRelay.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSPI.h"
|
||||
#include "FRC_FPGA_ChipObject/nRoboRIO_FPGANamespace/tSysWatchdog.h"
|
||||
|
||||
// FIXME: these should not be here!
|
||||
using namespace nFPGA;
|
||||
using namespace nRoboRIO_FPGANamespace;
|
||||
#pragma GCC diagnostic pop
|
||||
44
DriveBase/wpilib/cpp/current/include/CircularBuffer.h
Normal file
44
DriveBase/wpilib/cpp/current/include/CircularBuffer.h
Normal file
@ -0,0 +1,44 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2015-2016. 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 <vector>
|
||||
#include <cstddef>
|
||||
|
||||
/**
|
||||
* This is a simple circular buffer so we don't need to "bucket brigade" copy
|
||||
* old values.
|
||||
*/
|
||||
template <class T>
|
||||
class CircularBuffer {
|
||||
public:
|
||||
CircularBuffer(size_t size);
|
||||
|
||||
void PushFront(T value);
|
||||
void PushBack(T value);
|
||||
T PopFront();
|
||||
T PopBack();
|
||||
void Reset();
|
||||
|
||||
T& operator[](size_t index);
|
||||
const T& operator[](size_t index) const;
|
||||
|
||||
private:
|
||||
std::vector<T> m_data;
|
||||
|
||||
// Index of element at front of buffer
|
||||
size_t m_front = 0;
|
||||
|
||||
// Number of elements used in buffer
|
||||
size_t m_length = 0;
|
||||
|
||||
size_t ModuloInc(size_t index);
|
||||
size_t ModuloDec(size_t index);
|
||||
};
|
||||
|
||||
#include "CircularBuffer.inc"
|
||||
123
DriveBase/wpilib/cpp/current/include/CircularBuffer.inc
Normal file
123
DriveBase/wpilib/cpp/current/include/CircularBuffer.inc
Normal file
@ -0,0 +1,123 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2015-2016. 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 <algorithm>
|
||||
|
||||
template <class T>
|
||||
CircularBuffer<T>::CircularBuffer(size_t size) : m_data(size, 0) {}
|
||||
|
||||
/**
|
||||
* Push new value onto front of the buffer. The value at the back is overwritten
|
||||
* if the buffer is full.
|
||||
*/
|
||||
template <class T>
|
||||
void CircularBuffer<T>::PushFront(T value) {
|
||||
if (m_data.size() == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
m_front = ModuloDec(m_front);
|
||||
|
||||
m_data[m_front] = value;
|
||||
|
||||
if (m_length < m_data.size()) {
|
||||
m_length++;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Push new value onto back of the buffer. The value at the front is overwritten
|
||||
* if the buffer is full.
|
||||
*/
|
||||
template <class T>
|
||||
void CircularBuffer<T>::PushBack(T value) {
|
||||
if (m_data.size() == 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
m_data[(m_front + m_length) % m_data.size()] = value;
|
||||
|
||||
if (m_length < m_data.size()) {
|
||||
m_length++;
|
||||
} else {
|
||||
// Increment front if buffer is full to maintain size
|
||||
m_front = ModuloInc(m_front);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Pop value at front of buffer.
|
||||
*/
|
||||
template <class T>
|
||||
T CircularBuffer<T>::PopFront() {
|
||||
// If there are no elements in the buffer, do nothing
|
||||
if (m_length == 0) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
T& temp = m_data[m_front];
|
||||
m_front = ModuloInc(m_front);
|
||||
m_length--;
|
||||
return temp;
|
||||
}
|
||||
|
||||
/**
|
||||
* Pop value at back of buffer.
|
||||
*/
|
||||
template <class T>
|
||||
T CircularBuffer<T>::PopBack() {
|
||||
// If there are no elements in the buffer, do nothing
|
||||
if (m_length == 0) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
m_length--;
|
||||
return m_data[(m_front + m_length) % m_data.size()];
|
||||
}
|
||||
|
||||
template <class T>
|
||||
void CircularBuffer<T>::Reset() {
|
||||
std::fill(m_data.begin(), m_data.end(), 0);
|
||||
m_front = 0;
|
||||
m_length = 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns element at index starting from front of buffer.
|
||||
*/
|
||||
template <class T>
|
||||
T& CircularBuffer<T>::operator[](size_t index) {
|
||||
return m_data[(m_front + index) % m_data.size()];
|
||||
}
|
||||
|
||||
/**
|
||||
* Returns element at index starting from front of buffer.
|
||||
*/
|
||||
template <class T>
|
||||
const T& CircularBuffer<T>::operator[](size_t index) const {
|
||||
return m_data[(m_front + index) % m_data.size()];
|
||||
}
|
||||
|
||||
/**
|
||||
* Increment an index modulo the length of the m_data buffer
|
||||
*/
|
||||
template <class T>
|
||||
size_t CircularBuffer<T>::ModuloInc(size_t index) {
|
||||
return (index + 1) % m_data.size();
|
||||
}
|
||||
|
||||
/**
|
||||
* Decrement an index modulo the length of the m_data buffer
|
||||
*/
|
||||
template <class T>
|
||||
size_t CircularBuffer<T>::ModuloDec(size_t index) {
|
||||
if (index == 0) {
|
||||
return m_data.size() - 1;
|
||||
} else {
|
||||
return index - 1;
|
||||
}
|
||||
}
|
||||
190
DriveBase/wpilib/cpp/current/include/Commands/Command.h
Normal file
190
DriveBase/wpilib/cpp/current/include/Commands/Command.h
Normal file
@ -0,0 +1,190 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __COMMAND_H__
|
||||
#define __COMMAND_H__
|
||||
|
||||
#include "ErrorBase.h"
|
||||
#include "SmartDashboard/NamedSendable.h"
|
||||
#include "tables/ITableListener.h"
|
||||
#include <set>
|
||||
#include <string>
|
||||
#include <memory>
|
||||
|
||||
class CommandGroup;
|
||||
class Subsystem;
|
||||
|
||||
/**
|
||||
* The Command class is at the very core of the entire command framework.
|
||||
* Every command can be started with a call to {@link Command#Start() Start()}.
|
||||
* Once a command is started it will call {@link Command#Initialize()
|
||||
* Initialize()}, and then
|
||||
* will repeatedly call {@link Command#Execute() Execute()} until the {@link
|
||||
*Command#IsFinished() IsFinished()}
|
||||
* returns true. Once it does, {@link Command#End() End()} will be called.
|
||||
*
|
||||
* <p>However, if at any point while it is running {@link Command#Cancel()
|
||||
* Cancel()} is called, then
|
||||
* the command will be stopped and {@link Command#Interrupted() Interrupted()}
|
||||
* will be called.</p>
|
||||
*
|
||||
* <p>If a command uses a {@link Subsystem}, then it should specify that it does
|
||||
* so by
|
||||
* calling the {@link Command#Requires(Subsystem) Requires(...)} method
|
||||
* in its constructor. Note that a Command may have multiple requirements, and
|
||||
* {@link Command#Requires(Subsystem) Requires(...)} should be
|
||||
* called for each one.</p>
|
||||
*
|
||||
* <p>If a command is running and a new command with shared requirements is
|
||||
* started,
|
||||
* then one of two things will happen. If the active command is interruptible,
|
||||
* then {@link Command#Cancel() Cancel()} will be called and the command will be
|
||||
* removed
|
||||
* to make way for the new one. If the active command is not interruptible, the
|
||||
* other one will not even be started, and the active one will continue
|
||||
* functioning.</p>
|
||||
*
|
||||
* @see CommandGroup
|
||||
* @see Subsystem
|
||||
*/
|
||||
class Command : public ErrorBase, public NamedSendable, public ITableListener {
|
||||
friend class CommandGroup;
|
||||
friend class Scheduler;
|
||||
|
||||
public:
|
||||
Command();
|
||||
Command(const std::string &name);
|
||||
Command(double timeout);
|
||||
Command(const std::string &name, double timeout);
|
||||
virtual ~Command();
|
||||
double TimeSinceInitialized() const;
|
||||
void Requires(Subsystem *s);
|
||||
bool IsCanceled() const;
|
||||
void Start();
|
||||
bool Run();
|
||||
void Cancel();
|
||||
bool IsRunning() const;
|
||||
bool IsInterruptible() const;
|
||||
void SetInterruptible(bool interruptible);
|
||||
bool DoesRequire(Subsystem *subsystem) const;
|
||||
typedef std::set<Subsystem *> SubsystemSet;
|
||||
SubsystemSet GetRequirements() const;
|
||||
CommandGroup *GetGroup() const;
|
||||
void SetRunWhenDisabled(bool run);
|
||||
bool WillRunWhenDisabled() const;
|
||||
int GetID() const;
|
||||
|
||||
protected:
|
||||
void SetTimeout(double timeout);
|
||||
bool IsTimedOut() const;
|
||||
bool AssertUnlocked(const std::string &message);
|
||||
void SetParent(CommandGroup *parent);
|
||||
/**
|
||||
* The initialize method is called the first time this Command is run after
|
||||
* being started.
|
||||
*/
|
||||
virtual void Initialize() = 0;
|
||||
/**
|
||||
* The execute method is called repeatedly until this Command either finishes
|
||||
* or is canceled.
|
||||
*/
|
||||
virtual void Execute() = 0;
|
||||
/**
|
||||
* Returns whether this command is finished.
|
||||
* If it is, then the command will be removed
|
||||
* and {@link Command#end() end()} will be called.
|
||||
*
|
||||
* <p>It may be useful for a team to reference the {@link Command#isTimedOut()
|
||||
* isTimedOut()} method
|
||||
* for time-sensitive commands.</p>
|
||||
* @return whether this command is finished.
|
||||
* @see Command#isTimedOut() isTimedOut()
|
||||
*/
|
||||
virtual bool IsFinished() = 0;
|
||||
/**
|
||||
* Called when the command ended peacefully. This is where you may want
|
||||
* to wrap up loose ends, like shutting off a motor that was being used
|
||||
* in the command.
|
||||
*/
|
||||
virtual void End() = 0;
|
||||
/**
|
||||
* Called when the command ends because somebody called {@link
|
||||
*Command#cancel() cancel()}
|
||||
* or another command shared the same requirements as this one, and booted
|
||||
* it out.
|
||||
*
|
||||
* <p>This is where you may want
|
||||
* to wrap up loose ends, like shutting off a motor that was being used
|
||||
* in the command.</p>
|
||||
*
|
||||
* <p>Generally, it is useful to simply call the {@link Command#end() end()}
|
||||
* method
|
||||
* within this method</p>
|
||||
*/
|
||||
virtual void Interrupted() = 0;
|
||||
virtual void _Initialize();
|
||||
virtual void _Interrupted();
|
||||
virtual void _Execute();
|
||||
virtual void _End();
|
||||
virtual void _Cancel();
|
||||
|
||||
private:
|
||||
void LockChanges();
|
||||
/*synchronized*/ void Removed();
|
||||
void StartRunning();
|
||||
void StartTiming();
|
||||
|
||||
/** The name of this command */
|
||||
std::string m_name;
|
||||
|
||||
/** The time since this command was initialized */
|
||||
double m_startTime = -1;
|
||||
|
||||
/** The time (in seconds) before this command "times out" (or -1 if no
|
||||
* timeout) */
|
||||
double m_timeout;
|
||||
|
||||
/** Whether or not this command has been initialized */
|
||||
bool m_initialized = false;
|
||||
|
||||
/** The requirements (or null if no requirements) */
|
||||
SubsystemSet m_requirements;
|
||||
|
||||
/** Whether or not it is running */
|
||||
bool m_running = false;
|
||||
|
||||
/** Whether or not it is interruptible*/
|
||||
bool m_interruptible = true;
|
||||
|
||||
/** Whether or not it has been canceled */
|
||||
bool m_canceled = false;
|
||||
|
||||
/** Whether or not it has been locked */
|
||||
bool m_locked = false;
|
||||
|
||||
/** Whether this command should run when the robot is disabled */
|
||||
bool m_runWhenDisabled = false;
|
||||
|
||||
/** The {@link CommandGroup} this is in */
|
||||
CommandGroup *m_parent = nullptr;
|
||||
|
||||
int m_commandID = m_commandCounter++;
|
||||
static int m_commandCounter;
|
||||
|
||||
public:
|
||||
virtual std::string GetName() const;
|
||||
virtual void InitTable(std::shared_ptr<ITable> table);
|
||||
virtual std::shared_ptr<ITable> GetTable() const;
|
||||
virtual std::string GetSmartDashboardType() const;
|
||||
virtual void ValueChanged(ITable* source, llvm::StringRef key,
|
||||
std::shared_ptr<nt::Value> value, bool isNew);
|
||||
|
||||
protected:
|
||||
std::shared_ptr<ITable> m_table;
|
||||
};
|
||||
|
||||
#endif
|
||||
74
DriveBase/wpilib/cpp/current/include/Commands/CommandGroup.h
Normal file
74
DriveBase/wpilib/cpp/current/include/Commands/CommandGroup.h
Normal file
@ -0,0 +1,74 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __COMMAND_GROUP_H__
|
||||
#define __COMMAND_GROUP_H__
|
||||
|
||||
#include "Commands/Command.h"
|
||||
#include "Commands/CommandGroupEntry.h"
|
||||
#include <list>
|
||||
#include <vector>
|
||||
|
||||
/**
|
||||
* A {@link CommandGroup} is a list of commands which are executed in sequence.
|
||||
*
|
||||
* <p>Commands in a {@link CommandGroup} are added using the {@link
|
||||
* CommandGroup#AddSequential(Command) AddSequential(...)} method
|
||||
* and are called sequentially.
|
||||
* {@link CommandGroup CommandGroups} are themselves {@link Command Commands}
|
||||
* and can be given to other {@link CommandGroup CommandGroups}.</p>
|
||||
*
|
||||
* <p>{@link CommandGroup CommandGroups} will carry all of the requirements of
|
||||
* their {@link Command subcommands}. Additional
|
||||
* requirements can be specified by calling {@link
|
||||
*CommandGroup#Requires(Subsystem) Requires(...)}
|
||||
* normally in the constructor.</P>
|
||||
*
|
||||
* <p>CommandGroups can also execute commands in parallel, simply by adding them
|
||||
* using {@link CommandGroup#AddParallel(Command) AddParallel(...)}.</p>
|
||||
*
|
||||
* @see Command
|
||||
* @see Subsystem
|
||||
*/
|
||||
class CommandGroup : public Command {
|
||||
public:
|
||||
CommandGroup() = default;
|
||||
CommandGroup(const std::string &name);
|
||||
virtual ~CommandGroup() = default;
|
||||
|
||||
void AddSequential(Command *command);
|
||||
void AddSequential(Command *command, double timeout);
|
||||
void AddParallel(Command *command);
|
||||
void AddParallel(Command *command, double timeout);
|
||||
bool IsInterruptible() const;
|
||||
int GetSize() const;
|
||||
|
||||
protected:
|
||||
virtual void Initialize();
|
||||
virtual void Execute();
|
||||
virtual bool IsFinished();
|
||||
virtual void End();
|
||||
virtual void Interrupted();
|
||||
virtual void _Initialize();
|
||||
virtual void _Interrupted();
|
||||
virtual void _Execute();
|
||||
virtual void _End();
|
||||
|
||||
private:
|
||||
void CancelConflicts(Command *command);
|
||||
|
||||
/** The commands in this group (stored in entries) */
|
||||
std::vector<CommandGroupEntry> m_commands;
|
||||
|
||||
/** The active children in this group (stored in entries) */
|
||||
std::list<CommandGroupEntry> m_children;
|
||||
|
||||
/** The current command, -1 signifies that none have been run */
|
||||
int m_currentCommandIndex = -1;
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,30 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __COMMAND_GROUP_ENTRY_H__
|
||||
#define __COMMAND_GROUP_ENTRY_H__
|
||||
|
||||
class Command;
|
||||
|
||||
class CommandGroupEntry {
|
||||
public:
|
||||
typedef enum {
|
||||
kSequence_InSequence,
|
||||
kSequence_BranchPeer,
|
||||
kSequence_BranchChild
|
||||
} Sequence;
|
||||
|
||||
CommandGroupEntry() = default;
|
||||
CommandGroupEntry(Command *command, Sequence state, double timeout = -1.0);
|
||||
bool IsTimedOut() const;
|
||||
|
||||
double m_timeout = -1.0;
|
||||
Command *m_command = nullptr;
|
||||
Sequence m_state = kSequence_InSequence;
|
||||
};
|
||||
|
||||
#endif
|
||||
58
DriveBase/wpilib/cpp/current/include/Commands/PIDCommand.h
Normal file
58
DriveBase/wpilib/cpp/current/include/Commands/PIDCommand.h
Normal file
@ -0,0 +1,58 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __PID_COMMAND_H__
|
||||
#define __PID_COMMAND_H__
|
||||
|
||||
#include "Commands/Command.h"
|
||||
#include "PIDController.h"
|
||||
#include "PIDSource.h"
|
||||
#include "PIDOutput.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
class PIDCommand : public Command, public PIDOutput, public PIDSource {
|
||||
public:
|
||||
PIDCommand(const std::string &name, double p, double i, double d);
|
||||
PIDCommand(const std::string &name, double p, double i, double d, double period);
|
||||
PIDCommand(const std::string &name, double p, double i, double d, double f,
|
||||
double period);
|
||||
PIDCommand(double p, double i, double d);
|
||||
PIDCommand(double p, double i, double d, double period);
|
||||
PIDCommand(double p, double i, double d, double f, double period);
|
||||
virtual ~PIDCommand() = default;
|
||||
|
||||
void SetSetpointRelative(double deltaSetpoint);
|
||||
|
||||
// PIDOutput interface
|
||||
virtual void PIDWrite(float output);
|
||||
|
||||
// PIDSource interface
|
||||
virtual double PIDGet();
|
||||
|
||||
protected:
|
||||
std::shared_ptr<PIDController> GetPIDController() const;
|
||||
virtual void _Initialize();
|
||||
virtual void _Interrupted();
|
||||
virtual void _End();
|
||||
void SetSetpoint(double setpoint);
|
||||
double GetSetpoint() const;
|
||||
double GetPosition();
|
||||
|
||||
virtual double ReturnPIDInput() = 0;
|
||||
virtual void UsePIDOutput(double output) = 0;
|
||||
|
||||
private:
|
||||
/** The internal {@link PIDController} */
|
||||
std::shared_ptr<PIDController> m_controller;
|
||||
|
||||
public:
|
||||
virtual void InitTable(std::shared_ptr<ITable> table);
|
||||
virtual std::string GetSmartDashboardType() const;
|
||||
};
|
||||
|
||||
#endif
|
||||
76
DriveBase/wpilib/cpp/current/include/Commands/PIDSubsystem.h
Normal file
76
DriveBase/wpilib/cpp/current/include/Commands/PIDSubsystem.h
Normal file
@ -0,0 +1,76 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __PID_SUBSYSTEM_H__
|
||||
#define __PID_SUBSYSTEM_H__
|
||||
|
||||
#include "Commands/Subsystem.h"
|
||||
#include "PIDController.h"
|
||||
#include "PIDSource.h"
|
||||
#include "PIDOutput.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
/**
|
||||
* This class is designed to handle the case where there is a {@link Subsystem}
|
||||
* which uses a single {@link PIDController} almost constantly (for instance,
|
||||
* an elevator which attempts to stay at a constant height).
|
||||
*
|
||||
* <p>It provides some convenience methods to run an internal {@link
|
||||
* PIDController}.
|
||||
* It also allows access to the internal {@link PIDController} in order to give
|
||||
* total control
|
||||
* to the programmer.</p>
|
||||
*
|
||||
*/
|
||||
class PIDSubsystem : public Subsystem, public PIDOutput, public PIDSource {
|
||||
public:
|
||||
PIDSubsystem(const std::string &name, double p, double i, double d);
|
||||
PIDSubsystem(const std::string &name, double p, double i, double d, double f);
|
||||
PIDSubsystem(const std::string &name, double p, double i, double d, double f,
|
||||
double period);
|
||||
PIDSubsystem(double p, double i, double d);
|
||||
PIDSubsystem(double p, double i, double d, double f);
|
||||
PIDSubsystem(double p, double i, double d, double f, double period);
|
||||
virtual ~PIDSubsystem() = default;
|
||||
|
||||
void Enable();
|
||||
void Disable();
|
||||
|
||||
// PIDOutput interface
|
||||
virtual void PIDWrite(float output);
|
||||
|
||||
// PIDSource interface
|
||||
virtual double PIDGet();
|
||||
void SetSetpoint(double setpoint);
|
||||
void SetSetpointRelative(double deltaSetpoint);
|
||||
void SetInputRange(float minimumInput, float maximumInput);
|
||||
void SetOutputRange(float minimumOutput, float maximumOutput);
|
||||
double GetSetpoint();
|
||||
double GetPosition();
|
||||
double GetRate();
|
||||
|
||||
virtual void SetAbsoluteTolerance(float absValue);
|
||||
virtual void SetPercentTolerance(float percent);
|
||||
virtual bool OnTarget() const;
|
||||
|
||||
protected:
|
||||
std::shared_ptr<PIDController> GetPIDController();
|
||||
|
||||
virtual double ReturnPIDInput() = 0;
|
||||
virtual void UsePIDOutput(double output) = 0;
|
||||
|
||||
private:
|
||||
/** The internal {@link PIDController} */
|
||||
std::shared_ptr<PIDController> m_controller;
|
||||
|
||||
public:
|
||||
virtual void InitTable(std::shared_ptr<ITable> table);
|
||||
virtual std::string GetSmartDashboardType() const;
|
||||
};
|
||||
|
||||
#endif
|
||||
30
DriveBase/wpilib/cpp/current/include/Commands/PrintCommand.h
Normal file
30
DriveBase/wpilib/cpp/current/include/Commands/PrintCommand.h
Normal file
@ -0,0 +1,30 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __PRINT_COMMAND_H__
|
||||
#define __PRINT_COMMAND_H__
|
||||
|
||||
#include "Commands/Command.h"
|
||||
#include <string>
|
||||
|
||||
class PrintCommand : public Command {
|
||||
public:
|
||||
PrintCommand(const std::string &message);
|
||||
virtual ~PrintCommand() = default;
|
||||
|
||||
protected:
|
||||
virtual void Initialize();
|
||||
virtual void Execute();
|
||||
virtual bool IsFinished();
|
||||
virtual void End();
|
||||
virtual void Interrupted();
|
||||
|
||||
private:
|
||||
std::string m_message;
|
||||
};
|
||||
|
||||
#endif
|
||||
70
DriveBase/wpilib/cpp/current/include/Commands/Scheduler.h
Normal file
70
DriveBase/wpilib/cpp/current/include/Commands/Scheduler.h
Normal file
@ -0,0 +1,70 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __SCHEDULER_H__
|
||||
#define __SCHEDULER_H__
|
||||
|
||||
#include "Commands/Command.h"
|
||||
#include "ErrorBase.h"
|
||||
#include "SmartDashboard/NamedSendable.h"
|
||||
#include "networktables/NetworkTable.h"
|
||||
#include "SmartDashboard/SmartDashboard.h"
|
||||
#include <list>
|
||||
#include <map>
|
||||
#include <memory>
|
||||
#include <set>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include "HAL/cpp/priority_mutex.h"
|
||||
|
||||
class ButtonScheduler;
|
||||
class Subsystem;
|
||||
|
||||
class Scheduler : public ErrorBase, public NamedSendable {
|
||||
public:
|
||||
static Scheduler *GetInstance();
|
||||
|
||||
void AddCommand(Command *command);
|
||||
void AddButton(ButtonScheduler *button);
|
||||
void RegisterSubsystem(Subsystem *subsystem);
|
||||
void Run();
|
||||
void Remove(Command *command);
|
||||
void RemoveAll();
|
||||
void ResetAll();
|
||||
void SetEnabled(bool enabled);
|
||||
|
||||
void UpdateTable();
|
||||
std::string GetSmartDashboardType() const;
|
||||
void InitTable(std::shared_ptr<ITable> subTable);
|
||||
std::shared_ptr<ITable> GetTable() const;
|
||||
std::string GetName() const;
|
||||
std::string GetType() const;
|
||||
|
||||
private:
|
||||
Scheduler();
|
||||
virtual ~Scheduler() = default;
|
||||
|
||||
void ProcessCommandAddition(Command *command);
|
||||
|
||||
Command::SubsystemSet m_subsystems;
|
||||
priority_mutex m_buttonsLock;
|
||||
typedef std::vector<ButtonScheduler *> ButtonVector;
|
||||
ButtonVector m_buttons;
|
||||
typedef std::vector<Command *> CommandVector;
|
||||
priority_mutex m_additionsLock;
|
||||
CommandVector m_additions;
|
||||
typedef std::set<Command *> CommandSet;
|
||||
CommandSet m_commands;
|
||||
bool m_adding = false;
|
||||
bool m_enabled = true;
|
||||
std::vector<std::string> commands;
|
||||
std::vector<double> ids;
|
||||
std::vector<double> toCancel;
|
||||
std::shared_ptr<ITable> m_table;
|
||||
bool m_runningCommandsChanged = false;
|
||||
};
|
||||
#endif
|
||||
29
DriveBase/wpilib/cpp/current/include/Commands/StartCommand.h
Normal file
29
DriveBase/wpilib/cpp/current/include/Commands/StartCommand.h
Normal file
@ -0,0 +1,29 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __START_COMMAND_H__
|
||||
#define __START_COMMAND_H__
|
||||
|
||||
#include "Commands/Command.h"
|
||||
|
||||
class StartCommand : public Command {
|
||||
public:
|
||||
StartCommand(Command *commandToStart);
|
||||
virtual ~StartCommand() = default;
|
||||
|
||||
protected:
|
||||
virtual void Initialize();
|
||||
virtual void Execute();
|
||||
virtual bool IsFinished();
|
||||
virtual void End();
|
||||
virtual void Interrupted();
|
||||
|
||||
private:
|
||||
Command *m_commandToFork;
|
||||
};
|
||||
|
||||
#endif
|
||||
50
DriveBase/wpilib/cpp/current/include/Commands/Subsystem.h
Normal file
50
DriveBase/wpilib/cpp/current/include/Commands/Subsystem.h
Normal file
@ -0,0 +1,50 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __SUBSYSTEM_H__
|
||||
#define __SUBSYSTEM_H__
|
||||
|
||||
#include "ErrorBase.h"
|
||||
#include "SmartDashboard/NamedSendable.h"
|
||||
#include <string>
|
||||
#include <memory>
|
||||
|
||||
class Command;
|
||||
|
||||
class Subsystem : public ErrorBase, public NamedSendable {
|
||||
friend class Scheduler;
|
||||
|
||||
public:
|
||||
Subsystem(const std::string &name);
|
||||
virtual ~Subsystem() = default;
|
||||
|
||||
void SetDefaultCommand(Command *command);
|
||||
Command *GetDefaultCommand();
|
||||
void SetCurrentCommand(Command *command);
|
||||
Command *GetCurrentCommand() const;
|
||||
virtual void InitDefaultCommand();
|
||||
|
||||
private:
|
||||
void ConfirmCommand();
|
||||
|
||||
Command *m_currentCommand = nullptr;
|
||||
bool m_currentCommandChanged = true;
|
||||
Command *m_defaultCommand = nullptr;
|
||||
std::string m_name;
|
||||
bool m_initializedDefaultCommand = false;
|
||||
|
||||
public:
|
||||
virtual std::string GetName() const;
|
||||
virtual void InitTable(std::shared_ptr<ITable> table);
|
||||
virtual std::shared_ptr<ITable> GetTable() const;
|
||||
virtual std::string GetSmartDashboardType() const;
|
||||
|
||||
protected:
|
||||
std::shared_ptr<ITable> m_table;
|
||||
};
|
||||
|
||||
#endif
|
||||
27
DriveBase/wpilib/cpp/current/include/Commands/WaitCommand.h
Normal file
27
DriveBase/wpilib/cpp/current/include/Commands/WaitCommand.h
Normal file
@ -0,0 +1,27 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __WAIT_COMMAND_H__
|
||||
#define __WAIT_COMMAND_H__
|
||||
|
||||
#include "Commands/Command.h"
|
||||
|
||||
class WaitCommand : public Command {
|
||||
public:
|
||||
WaitCommand(double timeout);
|
||||
WaitCommand(const std::string &name, double timeout);
|
||||
virtual ~WaitCommand() = default;
|
||||
|
||||
protected:
|
||||
virtual void Initialize();
|
||||
virtual void Execute();
|
||||
virtual bool IsFinished();
|
||||
virtual void End();
|
||||
virtual void Interrupted();
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,27 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __WAIT_FOR_CHILDREN_H__
|
||||
#define __WAIT_FOR_CHILDREN_H__
|
||||
|
||||
#include "Commands/Command.h"
|
||||
|
||||
class WaitForChildren : public Command {
|
||||
public:
|
||||
WaitForChildren(double timeout);
|
||||
WaitForChildren(const std::string &name, double timeout);
|
||||
virtual ~WaitForChildren() = default;
|
||||
|
||||
protected:
|
||||
virtual void Initialize();
|
||||
virtual void Execute();
|
||||
virtual bool IsFinished();
|
||||
virtual void End();
|
||||
virtual void Interrupted();
|
||||
};
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,30 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __WAIT_UNTIL_COMMAND_H__
|
||||
#define __WAIT_UNTIL_COMMAND_H__
|
||||
|
||||
#include "Commands/Command.h"
|
||||
|
||||
class WaitUntilCommand : public Command {
|
||||
public:
|
||||
WaitUntilCommand(double time);
|
||||
WaitUntilCommand(const std::string &name, double time);
|
||||
virtual ~WaitUntilCommand() = default;
|
||||
|
||||
protected:
|
||||
virtual void Initialize();
|
||||
virtual void Execute();
|
||||
virtual bool IsFinished();
|
||||
virtual void End();
|
||||
virtual void Interrupted();
|
||||
|
||||
private:
|
||||
double m_time;
|
||||
};
|
||||
|
||||
#endif
|
||||
66
DriveBase/wpilib/cpp/current/include/Compressor.h
Normal file
66
DriveBase/wpilib/cpp/current/include/Compressor.h
Normal file
@ -0,0 +1,66 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2014-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef Compressor_H_
|
||||
#define Compressor_H_
|
||||
|
||||
#include "HAL/HAL.hpp"
|
||||
#include "SensorBase.h"
|
||||
#include "tables/ITableListener.h"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
/**
|
||||
* PCM compressor
|
||||
*/
|
||||
class Compressor : public SensorBase,
|
||||
public LiveWindowSendable,
|
||||
public ITableListener {
|
||||
public:
|
||||
// Default PCM ID is 0
|
||||
explicit Compressor(uint8_t pcmID = GetDefaultSolenoidModule());
|
||||
virtual ~Compressor() = default;
|
||||
|
||||
void Start();
|
||||
void Stop();
|
||||
bool Enabled() const;
|
||||
|
||||
bool GetPressureSwitchValue() const;
|
||||
|
||||
float GetCompressorCurrent() const;
|
||||
|
||||
void SetClosedLoopControl(bool on);
|
||||
bool GetClosedLoopControl() const;
|
||||
|
||||
bool GetCompressorCurrentTooHighFault() const;
|
||||
bool GetCompressorCurrentTooHighStickyFault() const;
|
||||
bool GetCompressorShortedStickyFault() const;
|
||||
bool GetCompressorShortedFault() const;
|
||||
bool GetCompressorNotConnectedStickyFault() const;
|
||||
bool GetCompressorNotConnectedFault() const;
|
||||
void ClearAllPCMStickyFaults();
|
||||
|
||||
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;
|
||||
void ValueChanged(ITable* source, llvm::StringRef key,
|
||||
std::shared_ptr<nt::Value> value, bool isNew) override;
|
||||
|
||||
protected:
|
||||
void *m_pcm_pointer;
|
||||
|
||||
private:
|
||||
void SetCompressor(bool on);
|
||||
|
||||
std::shared_ptr<ITable> m_table;
|
||||
};
|
||||
|
||||
#endif /* Compressor_H_ */
|
||||
32
DriveBase/wpilib/cpp/current/include/Controller.h
Normal file
32
DriveBase/wpilib/cpp/current/include/Controller.h
Normal file
@ -0,0 +1,32 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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
|
||||
|
||||
/**
|
||||
* Interface for Controllers
|
||||
* Common interface for controllers. Controllers run control loops, the most
|
||||
* common
|
||||
* are PID controllers and their variants, but this includes anything that is
|
||||
* controlling
|
||||
* an actuator in a separate thread.
|
||||
*/
|
||||
class Controller {
|
||||
public:
|
||||
virtual ~Controller() = default;
|
||||
|
||||
/**
|
||||
* Allows the control loop to run
|
||||
*/
|
||||
virtual void Enable() = 0;
|
||||
|
||||
/**
|
||||
* Stops the control loop from running until explicitly re-enabled by calling
|
||||
* enable()
|
||||
*/
|
||||
virtual void Disable() = 0;
|
||||
};
|
||||
28
DriveBase/wpilib/cpp/current/include/ControllerPower.h
Normal file
28
DriveBase/wpilib/cpp/current/include/ControllerPower.h
Normal file
@ -0,0 +1,28 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2011-2016. 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. */
|
||||
/*----------------------------------------------------------------------------*/
|
||||
|
||||
#ifndef __CONTROLLER_POWER_H__
|
||||
#define __CONTROLLER_POWER_H__
|
||||
|
||||
class ControllerPower {
|
||||
public:
|
||||
static double GetInputVoltage();
|
||||
static double GetInputCurrent();
|
||||
static double GetVoltage3V3();
|
||||
static double GetCurrent3V3();
|
||||
static bool GetEnabled3V3();
|
||||
static int GetFaultCount3V3();
|
||||
static double GetVoltage5V();
|
||||
static double GetCurrent5V();
|
||||
static bool GetEnabled5V();
|
||||
static int GetFaultCount5V();
|
||||
static double GetVoltage6V();
|
||||
static double GetCurrent6V();
|
||||
static bool GetEnabled6V();
|
||||
static int GetFaultCount6V();
|
||||
};
|
||||
#endif
|
||||
108
DriveBase/wpilib/cpp/current/include/Counter.h
Normal file
108
DriveBase/wpilib/cpp/current/include/Counter.h
Normal file
@ -0,0 +1,108 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "AnalogTriggerOutput.h"
|
||||
#include "CounterBase.h"
|
||||
#include "SensorBase.h"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
class DigitalGlitchFilter;
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*
|
||||
* All counters will immediately start counting - Reset() them if you need them
|
||||
* to be zeroed before use.
|
||||
*/
|
||||
class Counter : public SensorBase,
|
||||
public CounterBase,
|
||||
public LiveWindowSendable {
|
||||
public:
|
||||
explicit Counter(Mode mode = kTwoPulse);
|
||||
explicit Counter(int32_t channel);
|
||||
explicit Counter(DigitalSource *source);
|
||||
explicit Counter(std::shared_ptr<DigitalSource> source);
|
||||
DEPRECATED("Use pass-by-reference instead.")
|
||||
explicit Counter(AnalogTrigger *trigger);
|
||||
explicit Counter(const AnalogTrigger &trigger);
|
||||
Counter(EncodingType encodingType, DigitalSource *upSource,
|
||||
DigitalSource *downSource, bool inverted);
|
||||
Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
|
||||
std::shared_ptr<DigitalSource> downSource, bool inverted);
|
||||
virtual ~Counter();
|
||||
|
||||
void SetUpSource(int32_t channel);
|
||||
void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
|
||||
void SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
|
||||
AnalogTriggerType triggerType);
|
||||
void SetUpSource(DigitalSource *source);
|
||||
void SetUpSource(std::shared_ptr<DigitalSource> source);
|
||||
void SetUpSource(DigitalSource &source);
|
||||
void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
|
||||
void ClearUpSource();
|
||||
|
||||
void SetDownSource(int32_t channel);
|
||||
void SetDownSource(AnalogTrigger *analogTrigger,
|
||||
AnalogTriggerType triggerType);
|
||||
void SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
|
||||
AnalogTriggerType triggerType);
|
||||
void SetDownSource(DigitalSource *source);
|
||||
void SetDownSource(std::shared_ptr<DigitalSource> source);
|
||||
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
|
||||
int32_t Get() const override;
|
||||
void Reset() override;
|
||||
double GetPeriod() const override;
|
||||
void SetMaxPeriod(double maxPeriod) override;
|
||||
void SetUpdateWhenEmpty(bool enabled);
|
||||
bool GetStopped() const override;
|
||||
bool GetDirection() const override;
|
||||
|
||||
void SetSamplesToAverage(int samplesToAverage);
|
||||
int GetSamplesToAverage() const;
|
||||
uint32_t GetFPGAIndex() const { return m_index; }
|
||||
|
||||
void UpdateTable() override;
|
||||
void StartLiveWindowMode() override;
|
||||
void StopLiveWindowMode() override;
|
||||
virtual std::string GetSmartDashboardType() const override;
|
||||
void InitTable(std::shared_ptr<ITable> subTable) override;
|
||||
std::shared_ptr<ITable> GetTable() const override;
|
||||
|
||||
protected:
|
||||
// Makes the counter count up.
|
||||
std::shared_ptr<DigitalSource> m_upSource;
|
||||
// Makes the counter count down.
|
||||
std::shared_ptr<DigitalSource> m_downSource;
|
||||
// The FPGA counter object
|
||||
void *m_counter = nullptr; ///< The FPGA counter object.
|
||||
private:
|
||||
uint32_t m_index = 0; ///< The index of this counter.
|
||||
|
||||
std::shared_ptr<ITable> m_table;
|
||||
friend class DigitalGlitchFilter;
|
||||
};
|
||||
31
DriveBase/wpilib/cpp/current/include/CounterBase.h
Normal file
31
DriveBase/wpilib/cpp/current/include/CounterBase.h
Normal file
@ -0,0 +1,31 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 <stdint.h>
|
||||
|
||||
/**
|
||||
* Interface for counting the number of ticks on a digital input channel.
|
||||
* Encoders, Gear tooth sensors, and counters should all subclass this so it can
|
||||
* be used to build more advanced classes for control and driving.
|
||||
*
|
||||
* All counters will immediately start counting - Reset() them if you need them
|
||||
* to be zeroed before use.
|
||||
*/
|
||||
class CounterBase {
|
||||
public:
|
||||
enum EncodingType { k1X, k2X, k4X };
|
||||
|
||||
virtual ~CounterBase() = default;
|
||||
virtual int32_t Get() const = 0;
|
||||
virtual void Reset() = 0;
|
||||
virtual double GetPeriod() const = 0;
|
||||
virtual void SetMaxPeriod(double maxPeriod) = 0;
|
||||
virtual bool GetStopped() const = 0;
|
||||
virtual bool GetDirection() const = 0;
|
||||
};
|
||||
52
DriveBase/wpilib/cpp/current/include/DigitalGlitchFilter.h
Normal file
52
DriveBase/wpilib/cpp/current/include/DigitalGlitchFilter.h
Normal file
@ -0,0 +1,52 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* Copyright (c) FIRST 2015-2016. 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 <array>
|
||||
|
||||
#include "HAL/cpp/priority_mutex.h"
|
||||
#include "DigitalSource.h"
|
||||
|
||||
class Encoder;
|
||||
class Counter;
|
||||
|
||||
/**
|
||||
* Class to enable glitch filtering on a set of digital inputs.
|
||||
* This class will manage adding and removing digital inputs from a FPGA glitch
|
||||
* filter. The filter lets the user configure the time that an input must remain
|
||||
* high or low before it is classified as high or low.
|
||||
*/
|
||||
class DigitalGlitchFilter : public SensorBase {
|
||||
public:
|
||||
DigitalGlitchFilter();
|
||||
~DigitalGlitchFilter();
|
||||
|
||||
void Add(DigitalSource *input);
|
||||
void Add(Encoder *input);
|
||||
void Add(Counter *input);
|
||||
|
||||
void Remove(DigitalSource *input);
|
||||
void Remove(Encoder *input);
|
||||
void Remove(Counter *input);
|
||||
|
||||
void SetPeriodCycles(uint32_t fpga_cycles);
|
||||
void SetPeriodNanoSeconds(uint64_t nanoseconds);
|
||||
|
||||
uint32_t GetPeriodCycles();
|
||||
uint64_t GetPeriodNanoSeconds();
|
||||
|
||||
private:
|
||||
// Sets the filter for the input to be the requested index. A value of 0
|
||||
// disables the filter, and the filter value must be between 1 and 3,
|
||||
// inclusive.
|
||||
void DoAdd(DigitalSource *input, int requested_index);
|
||||
|
||||
int m_channelIndex = -1;
|
||||
static priority_mutex m_mutex;
|
||||
static ::std::array<bool, 3> m_filterAllocated;
|
||||
};
|
||||
52
DriveBase/wpilib/cpp/current/include/DigitalInput.h
Normal file
52
DriveBase/wpilib/cpp/current/include/DigitalInput.h
Normal file
@ -0,0 +1,52 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "DigitalSource.h"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
|
||||
#include <memory>
|
||||
#include <cstdint>
|
||||
|
||||
class DigitalGlitchFilter;
|
||||
|
||||
/**
|
||||
* Class to read a digital input.
|
||||
* This class will read digital inputs and return the current value on the
|
||||
* channel. Other devices
|
||||
* such as encoders, gear tooth sensors, etc. that are implemented elsewhere
|
||||
* will automatically
|
||||
* allocate digital inputs and outputs as required. This class is only for
|
||||
* devices like switches
|
||||
* etc. that aren't implemented anywhere else.
|
||||
*/
|
||||
class DigitalInput : public DigitalSource, public LiveWindowSendable {
|
||||
public:
|
||||
explicit DigitalInput(uint32_t channel);
|
||||
virtual ~DigitalInput();
|
||||
bool Get() const;
|
||||
uint32_t GetChannel() const;
|
||||
|
||||
// Digital Source Interface
|
||||
virtual uint32_t GetChannelForRouting() const;
|
||||
virtual uint32_t GetModuleForRouting() const;
|
||||
virtual bool GetAnalogTriggerForRouting() const;
|
||||
|
||||
void UpdateTable();
|
||||
void StartLiveWindowMode();
|
||||
void StopLiveWindowMode();
|
||||
std::string GetSmartDashboardType() const;
|
||||
void InitTable(std::shared_ptr<ITable> subTable);
|
||||
std::shared_ptr<ITable> GetTable() const;
|
||||
|
||||
private:
|
||||
uint32_t m_channel;
|
||||
|
||||
std::shared_ptr<ITable> m_table;
|
||||
friend class DigitalGlitchFilter;
|
||||
};
|
||||
56
DriveBase/wpilib/cpp/current/include/DigitalOutput.h
Normal file
56
DriveBase/wpilib/cpp/current/include/DigitalOutput.h
Normal file
@ -0,0 +1,56 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "DigitalSource.h"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
#include "tables/ITableListener.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
/**
|
||||
* Class to write to digital outputs.
|
||||
* Write values to the digital output channels. Other devices implemented
|
||||
* elsewhere will allocate
|
||||
* channels automatically so for those devices it shouldn't be done here.
|
||||
*/
|
||||
class DigitalOutput : public DigitalSource,
|
||||
public ITableListener,
|
||||
public LiveWindowSendable {
|
||||
public:
|
||||
explicit DigitalOutput(uint32_t channel);
|
||||
virtual ~DigitalOutput();
|
||||
void Set(uint32_t value);
|
||||
uint32_t GetChannel() const;
|
||||
void Pulse(float length);
|
||||
bool IsPulsing() const;
|
||||
void SetPWMRate(float rate);
|
||||
void EnablePWM(float initialDutyCycle);
|
||||
void DisablePWM();
|
||||
void UpdateDutyCycle(float dutyCycle);
|
||||
|
||||
// Digital Source Interface
|
||||
virtual uint32_t GetChannelForRouting() const;
|
||||
virtual uint32_t GetModuleForRouting() const;
|
||||
virtual bool GetAnalogTriggerForRouting() const;
|
||||
|
||||
virtual void ValueChanged(ITable* source, llvm::StringRef key,
|
||||
std::shared_ptr<nt::Value> value, bool isNew);
|
||||
void UpdateTable();
|
||||
void StartLiveWindowMode();
|
||||
void StopLiveWindowMode();
|
||||
std::string GetSmartDashboardType() const;
|
||||
void InitTable(std::shared_ptr<ITable> subTable);
|
||||
std::shared_ptr<ITable> GetTable() const;
|
||||
|
||||
private:
|
||||
uint32_t m_channel;
|
||||
void *m_pwmGenerator;
|
||||
|
||||
std::shared_ptr<ITable> m_table;
|
||||
};
|
||||
28
DriveBase/wpilib/cpp/current/include/DigitalSource.h
Normal file
28
DriveBase/wpilib/cpp/current/include/DigitalSource.h
Normal file
@ -0,0 +1,28 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "InterruptableSensorBase.h"
|
||||
|
||||
/**
|
||||
* DigitalSource Interface.
|
||||
* The DigitalSource represents all the possible inputs for a counter or a
|
||||
* quadrature encoder. The source may be
|
||||
* either a digital input or an analog input. If the caller just provides a
|
||||
* channel, then a digital input will be
|
||||
* constructed and freed when finished for the source. The source can either be
|
||||
* a digital input or analog trigger
|
||||
* but not both.
|
||||
*/
|
||||
class DigitalSource : public InterruptableSensorBase {
|
||||
public:
|
||||
virtual ~DigitalSource() = default;
|
||||
virtual uint32_t GetChannelForRouting() const = 0;
|
||||
virtual uint32_t GetModuleForRouting() const = 0;
|
||||
virtual bool GetAnalogTriggerForRouting() const = 0;
|
||||
};
|
||||
54
DriveBase/wpilib/cpp/current/include/DoubleSolenoid.h
Normal file
54
DriveBase/wpilib/cpp/current/include/DoubleSolenoid.h
Normal file
@ -0,0 +1,54 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "SolenoidBase.h"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
#include "tables/ITableListener.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
/**
|
||||
* DoubleSolenoid class for running 2 channels of high voltage Digital Output
|
||||
* (PCM).
|
||||
*
|
||||
* The DoubleSolenoid class is typically used for pneumatics solenoids that
|
||||
* have two positions controlled by two separate channels.
|
||||
*/
|
||||
class DoubleSolenoid : public SolenoidBase,
|
||||
public LiveWindowSendable,
|
||||
public ITableListener {
|
||||
public:
|
||||
enum Value { kOff, kForward, kReverse };
|
||||
|
||||
explicit DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel);
|
||||
DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel,
|
||||
uint32_t reverseChannel);
|
||||
virtual ~DoubleSolenoid();
|
||||
virtual void Set(Value value);
|
||||
virtual Value Get() const;
|
||||
bool IsFwdSolenoidBlackListed() const;
|
||||
bool IsRevSolenoidBlackListed() const;
|
||||
|
||||
void ValueChanged(ITable* source, llvm::StringRef key,
|
||||
std::shared_ptr<nt::Value> value, bool isNew);
|
||||
void UpdateTable();
|
||||
void StartLiveWindowMode();
|
||||
void StopLiveWindowMode();
|
||||
std::string GetSmartDashboardType() const;
|
||||
void InitTable(std::shared_ptr<ITable> subTable);
|
||||
std::shared_ptr<ITable> GetTable() const;
|
||||
|
||||
private:
|
||||
uint32_t m_forwardChannel; ///< The forward channel on the module to control.
|
||||
uint32_t m_reverseChannel; ///< The reverse channel on the module to control.
|
||||
uint8_t m_forwardMask; ///< The mask for the forward channel.
|
||||
uint8_t m_reverseMask; ///< The mask for the reverse channel.
|
||||
|
||||
std::shared_ptr<ITable> m_table;
|
||||
};
|
||||
118
DriveBase/wpilib/cpp/current/include/DriverStation.h
Normal file
118
DriveBase/wpilib/cpp/current/include/DriverStation.h
Normal file
@ -0,0 +1,118 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "SensorBase.h"
|
||||
#include "RobotState.h"
|
||||
#include "Task.h"
|
||||
#include "HAL/HAL.hpp"
|
||||
#include "HAL/cpp/Semaphore.hpp"
|
||||
#include "HAL/cpp/priority_mutex.h"
|
||||
#include "HAL/cpp/priority_condition_variable.h"
|
||||
#include <condition_variable>
|
||||
#include <atomic>
|
||||
|
||||
struct HALControlWord;
|
||||
class AnalogInput;
|
||||
|
||||
/**
|
||||
* Provide access to the network communication data to / from the Driver
|
||||
* Station.
|
||||
*/
|
||||
class DriverStation : public SensorBase, public RobotStateInterface {
|
||||
public:
|
||||
enum Alliance { kRed, kBlue, kInvalid };
|
||||
|
||||
virtual ~DriverStation();
|
||||
static DriverStation &GetInstance();
|
||||
static void ReportError(std::string error);
|
||||
|
||||
static const uint32_t kJoystickPorts = 6;
|
||||
|
||||
float GetStickAxis(uint32_t stick, uint32_t axis);
|
||||
int GetStickPOV(uint32_t stick, uint32_t pov);
|
||||
uint32_t GetStickButtons(uint32_t stick) const;
|
||||
bool GetStickButton(uint32_t stick, uint8_t button);
|
||||
|
||||
int GetStickAxisCount(uint32_t stick) const;
|
||||
int GetStickPOVCount(uint32_t stick) const;
|
||||
int GetStickButtonCount(uint32_t stick) const;
|
||||
|
||||
bool GetJoystickIsXbox(uint32_t stick) const;
|
||||
int GetJoystickType(uint32_t stick) const;
|
||||
std::string GetJoystickName(uint32_t stick) const;
|
||||
int GetJoystickAxisType(uint32_t stick, uint8_t axis) const;
|
||||
|
||||
bool IsEnabled() const override;
|
||||
bool IsDisabled() const override;
|
||||
bool IsAutonomous() const override;
|
||||
bool IsOperatorControl() const override;
|
||||
bool IsTest() const override;
|
||||
bool IsDSAttached() const;
|
||||
bool IsNewControlData() const;
|
||||
bool IsFMSAttached() const;
|
||||
bool IsSysActive() const;
|
||||
bool IsSysBrownedOut() const;
|
||||
|
||||
Alliance GetAlliance() const;
|
||||
uint32_t GetLocation() const;
|
||||
void WaitForData();
|
||||
double GetMatchTime() const;
|
||||
float GetBatteryVoltage() const;
|
||||
|
||||
/** Only to be used to tell the Driver Station what code you claim to be
|
||||
* executing
|
||||
* for diagnostic purposes only
|
||||
* @param entering If true, starting disabled code; if false, leaving disabled
|
||||
* code */
|
||||
void InDisabled(bool entering) { m_userInDisabled = entering; }
|
||||
/** Only to be used to tell the Driver Station what code you claim to be
|
||||
* executing
|
||||
* for diagnostic purposes only
|
||||
* @param entering If true, starting autonomous code; if false, leaving
|
||||
* autonomous code */
|
||||
void InAutonomous(bool entering) { m_userInAutonomous = entering; }
|
||||
/** Only to be used to tell the Driver Station what code you claim to be
|
||||
* executing
|
||||
* for diagnostic purposes only
|
||||
* @param entering If true, starting teleop code; if false, leaving teleop
|
||||
* code */
|
||||
void InOperatorControl(bool entering) { m_userInTeleop = entering; }
|
||||
/** Only to be used to tell the Driver Station what code you claim to be
|
||||
* executing
|
||||
* for diagnostic purposes only
|
||||
* @param entering If true, starting test code; if false, leaving test code */
|
||||
void InTest(bool entering) { m_userInTest = entering; }
|
||||
|
||||
protected:
|
||||
DriverStation();
|
||||
|
||||
void GetData();
|
||||
|
||||
private:
|
||||
static DriverStation *m_instance;
|
||||
void ReportJoystickUnpluggedError(std::string message);
|
||||
void Run();
|
||||
|
||||
HALJoystickAxes m_joystickAxes[kJoystickPorts];
|
||||
HALJoystickPOVs m_joystickPOVs[kJoystickPorts];
|
||||
HALJoystickButtons m_joystickButtons[kJoystickPorts];
|
||||
HALJoystickDescriptor m_joystickDescriptor[kJoystickPorts];
|
||||
Task m_task;
|
||||
std::atomic<bool> m_isRunning{false};
|
||||
mutable Semaphore m_newControlData{Semaphore::kEmpty};
|
||||
mutable priority_condition_variable m_packetDataAvailableCond;
|
||||
priority_mutex m_packetDataAvailableMutex;
|
||||
std::condition_variable_any m_waitForDataCond;
|
||||
priority_mutex m_waitForDataMutex;
|
||||
bool m_userInDisabled = false;
|
||||
bool m_userInAutonomous = false;
|
||||
bool m_userInTeleop = false;
|
||||
bool m_userInTest = false;
|
||||
double m_nextMessageTime = 0;
|
||||
};
|
||||
114
DriveBase/wpilib/cpp/current/include/Encoder.h
Normal file
114
DriveBase/wpilib/cpp/current/include/Encoder.h
Normal file
@ -0,0 +1,114 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "CounterBase.h"
|
||||
#include "SensorBase.h"
|
||||
#include "Counter.h"
|
||||
#include "PIDSource.h"
|
||||
#include "LiveWindow/LiveWindowSendable.h"
|
||||
|
||||
#include <memory>
|
||||
|
||||
class DigitalSource;
|
||||
class DigitalGlitchFilter;
|
||||
|
||||
/**
|
||||
* Class to read quad encoders.
|
||||
* Quadrature encoders are devices that count shaft rotation and can sense
|
||||
* direction. The output of
|
||||
* the QuadEncoder class is an integer that can count either up or down, and can
|
||||
* go negative for
|
||||
* reverse direction counting. When creating QuadEncoders, a direction is
|
||||
* supplied that changes the
|
||||
* sense of the output to make code more readable if the encoder is mounted such
|
||||
* that forward movement
|
||||
* generates negative values. Quadrature encoders have two digital outputs, an A
|
||||
* Channel and a B Channel
|
||||
* that are out of phase with each other to allow the FPGA to do direction
|
||||
* sensing.
|
||||
*
|
||||
* All encoders will immediately start counting - Reset() them if you need them
|
||||
* to be zeroed before use.
|
||||
*/
|
||||
class Encoder : public SensorBase,
|
||||
public CounterBase,
|
||||
public PIDSource,
|
||||
public LiveWindowSendable {
|
||||
public:
|
||||
enum IndexingType {
|
||||
kResetWhileHigh,
|
||||
kResetWhileLow,
|
||||
kResetOnFallingEdge,
|
||||
kResetOnRisingEdge
|
||||
};
|
||||
|
||||
Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
|
||||
EncodingType encodingType = k4X);
|
||||
Encoder(std::shared_ptr<DigitalSource> aSource,
|
||||
std::shared_ptr<DigitalSource> bSource,
|
||||
bool reverseDirection = false, EncodingType encodingType = k4X);
|
||||
Encoder(DigitalSource *aSource, DigitalSource *bSource,
|
||||
bool reverseDirection = false, EncodingType encodingType = k4X);
|
||||
Encoder(DigitalSource &aSource, DigitalSource &bSource,
|
||||
bool reverseDirection = false, EncodingType encodingType = k4X);
|
||||
virtual ~Encoder();
|
||||
|
||||
// CounterBase interface
|
||||
int32_t Get() const override;
|
||||
int32_t GetRaw() const;
|
||||
int32_t GetEncodingScale() const;
|
||||
void Reset() override;
|
||||
double GetPeriod() const override;
|
||||
void SetMaxPeriod(double maxPeriod) override;
|
||||
bool GetStopped() const override;
|
||||
bool GetDirection() const override;
|
||||
|
||||
double GetDistance() const;
|
||||
double GetRate() const;
|
||||
void SetMinRate(double minRate);
|
||||
void SetDistancePerPulse(double distancePerPulse);
|
||||
void SetReverseDirection(bool reverseDirection);
|
||||
void SetSamplesToAverage(int samplesToAverage);
|
||||
int GetSamplesToAverage() const;
|
||||
double PIDGet() override;
|
||||
|
||||
void SetIndexSource(uint32_t channel, IndexingType type = kResetOnRisingEdge);
|
||||
DEPRECATED("Use pass-by-reference instead.")
|
||||
void SetIndexSource(DigitalSource *source,
|
||||
IndexingType type = kResetOnRisingEdge);
|
||||
void SetIndexSource(const DigitalSource &source,
|
||||
IndexingType type = kResetOnRisingEdge);
|
||||
|
||||
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;
|
||||
|
||||
int32_t GetFPGAIndex() const { return m_index; }
|
||||
|
||||
private:
|
||||
void InitEncoder(bool _reverseDirection, EncodingType encodingType);
|
||||
double DecodingScaleFactor() const;
|
||||
|
||||
std::shared_ptr<DigitalSource> m_aSource; // the A phase of the quad encoder
|
||||
std::shared_ptr<DigitalSource> m_bSource; // the B phase of the quad encoder
|
||||
void *m_encoder = nullptr;
|
||||
int32_t m_index = 0; // The encoder's FPGA index.
|
||||
double m_distancePerPulse = 1.0; // distance of travel for each encoder tick
|
||||
std::unique_ptr<Counter> m_counter =
|
||||
nullptr; // Counter object for 1x and 2x encoding
|
||||
EncodingType m_encodingType; // Encoding type
|
||||
int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
|
||||
|
||||
std::shared_ptr<ITable> m_table;
|
||||
friend class DigitalGlitchFilter;
|
||||
};
|
||||
60
DriveBase/wpilib/cpp/current/include/Error.h
Normal file
60
DriveBase/wpilib/cpp/current/include/Error.h
Normal file
@ -0,0 +1,60 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "Base.h"
|
||||
|
||||
#ifdef _WIN32
|
||||
#include <Windows.h>
|
||||
//Windows.h defines #define GetMessage GetMessageW, which is stupid and we don't want it.
|
||||
#undef GetMessage
|
||||
#endif
|
||||
|
||||
#include <string>
|
||||
#include <stdint.h>
|
||||
#include "llvm/StringRef.h"
|
||||
|
||||
// Forward declarations
|
||||
class ErrorBase;
|
||||
|
||||
/**
|
||||
* Error object represents a library error.
|
||||
*/
|
||||
class Error {
|
||||
public:
|
||||
typedef int32_t Code;
|
||||
|
||||
Error() = default;
|
||||
|
||||
Error(const Error&) = delete;
|
||||
Error& operator=(const Error&) = delete;
|
||||
|
||||
void Clone(const Error& error);
|
||||
Code GetCode() const;
|
||||
std::string GetMessage() const;
|
||||
std::string GetFilename() const;
|
||||
std::string GetFunction() const;
|
||||
uint32_t GetLineNumber() const;
|
||||
const ErrorBase* GetOriginatingObject() const;
|
||||
double GetTimestamp() const;
|
||||
void Clear();
|
||||
void Set(Code code, llvm::StringRef contextMessage,
|
||||
llvm::StringRef filename, llvm::StringRef function,
|
||||
uint32_t lineNumber, const ErrorBase* originatingObject);
|
||||
|
||||
private:
|
||||
void Report();
|
||||
|
||||
Code m_code = 0;
|
||||
std::string m_message;
|
||||
std::string m_filename;
|
||||
std::string m_function;
|
||||
uint32_t m_lineNumber = 0;
|
||||
const ErrorBase* m_originatingObject = nullptr;
|
||||
double m_timestamp = 0.0;
|
||||
};
|
||||
107
DriveBase/wpilib/cpp/current/include/ErrorBase.h
Normal file
107
DriveBase/wpilib/cpp/current/include/ErrorBase.h
Normal file
@ -0,0 +1,107 @@
|
||||
/*----------------------------------------------------------------------------*/
|
||||
/* 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 "Base.h"
|
||||
#include "Error.h"
|
||||
|
||||
#include "HAL/cpp/priority_mutex.h"
|
||||
#include "llvm/StringRef.h"
|
||||
|
||||
#define wpi_setErrnoErrorWithContext(context) \
|
||||
this->SetErrnoError((context), __FILE__, __FUNCTION__, __LINE__)
|
||||
#define wpi_setErrnoError() wpi_setErrnoErrorWithContext("")
|
||||
#define wpi_setImaqErrorWithContext(code, context) \
|
||||
do { \
|
||||
if ((code) != 0) \
|
||||
this->SetImaqError((code), (context), __FILE__, __FUNCTION__, __LINE__); \
|
||||
} while (0)
|
||||
#define wpi_setErrorWithContext(code, context) \
|
||||
do { \
|
||||
if ((code) != 0) \
|
||||
this->SetError((code), (context), __FILE__, __FUNCTION__, __LINE__); \
|
||||
} while (0)
|
||||
#define wpi_setError(code) wpi_setErrorWithContext(code, "")
|
||||
#define wpi_setStaticErrorWithContext(object, code, context) \
|
||||
do { \
|
||||
if ((code) != 0) \
|
||||
object->SetError((code), (context), __FILE__, __FUNCTION__, __LINE__); \
|
||||
} while (0)
|
||||
#define wpi_setStaticError(object, code) \
|
||||
wpi_setStaticErrorWithContext(object, code, "")
|
||||
#define wpi_setGlobalErrorWithContext(code, context) \
|
||||
do { \
|
||||
if ((code) != 0) \
|
||||
ErrorBase::SetGlobalError((code), (context), __FILE__, __FUNCTION__, \
|
||||
__LINE__); \
|
||||
} while (0)
|
||||
#define wpi_setGlobalError(code) wpi_setGlobalErrorWithContext(code, "")
|
||||
#define wpi_setWPIErrorWithContext(error, context) \
|
||||
this->SetWPIError((wpi_error_s_##error), (wpi_error_value_##error), \
|
||||
(context), __FILE__, __FUNCTION__, __LINE__)
|
||||
#define wpi_setWPIError(error) (wpi_setWPIErrorWithContext(error, ""))
|
||||
#define wpi_setStaticWPIErrorWithContext(object, error, context) \
|
||||
object->SetWPIError((wpi_error_s_##error), (context), __FILE__, \
|
||||
__FUNCTION__, __LINE__)
|
||||
#define wpi_setStaticWPIError(object, error) \
|
||||
wpi_setStaticWPIErrorWithContext(object, error, "")
|
||||
#define wpi_setGlobalWPIErrorWithContext(error, context) \
|
||||
ErrorBase::SetGlobalWPIError((wpi_error_s_##error), (context), __FILE__, \
|
||||
__FUNCTION__, __LINE__)
|
||||
#define wpi_setGlobalWPIError(error) \
|
||||
wpi_setGlobalWPIErrorWithContext(error, "")
|
||||
|
||||
/**
|
||||
* Base class for most objects.
|
||||
* ErrorBase is the base class for most objects since it holds the generated
|
||||
* error
|
||||
* for that object. In addition, there is a single instance of a global error
|
||||
* object
|
||||
*/
|
||||
class ErrorBase {
|
||||
// TODO: Consider initializing instance variables and cleanup in destructor
|
||||
public:
|
||||
ErrorBase() = default;
|
||||
virtual ~ErrorBase() = default;
|
||||
|
||||
ErrorBase(const ErrorBase&) = delete;
|
||||
ErrorBase& operator=(const ErrorBase&) = delete;
|
||||
|
||||
virtual Error& GetError();
|
||||
virtual const Error& GetError() const;
|
||||
virtual void SetErrnoError(llvm::StringRef contextMessage,
|
||||
llvm::StringRef filename, llvm::StringRef function,
|
||||
uint32_t lineNumber) const;
|
||||
virtual void SetImaqError(int success, llvm::StringRef contextMessage,
|
||||
llvm::StringRef filename, llvm::StringRef function,
|
||||
uint32_t lineNumber) const;
|
||||
virtual void SetError(Error::Code code, llvm::StringRef contextMessage,
|
||||
llvm::StringRef filename, llvm::StringRef function,
|
||||
uint32_t lineNumber) const;
|
||||
virtual void SetWPIError(llvm::StringRef errorMessage, Error::Code code,
|
||||
llvm::StringRef contextMessage,
|
||||
llvm::StringRef filename, llvm::StringRef function,
|
||||
uint32_t lineNumber) const;
|
||||
virtual void CloneError(const ErrorBase& rhs) const;
|
||||
virtual void ClearError() const;
|
||||
virtual bool StatusIsFatal() const;
|
||||
static void SetGlobalError(Error::Code code, llvm::StringRef contextMessage,
|
||||
llvm::StringRef filename, llvm::StringRef function,
|
||||
uint32_t lineNumber);
|
||||
static void SetGlobalWPIError(llvm::StringRef errorMessage,
|
||||
llvm::StringRef contextMessage,
|
||||
llvm::StringRef filename,
|
||||
llvm::StringRef function, uint32_t lineNumber);
|
||||
static Error& GetGlobalError();
|
||||
|
||||
protected:
|
||||
mutable Error m_error;
|
||||
// TODO: Replace globalError with a global list of all errors.
|
||||
static priority_mutex _globalErrorMutex;
|
||||
static Error _globalError;
|
||||
};
|
||||
@ -0,0 +1,10 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __FRC_FPGA_ChipObject_Aliases_h__
|
||||
#define __FRC_FPGA_ChipObject_Aliases_h__
|
||||
|
||||
#define nRuntimeFPGANamespace nFRC_2012_1_6_4
|
||||
#define nInvariantFPGANamespace nFRC_C0EF_1_1_0
|
||||
|
||||
#endif // __FRC_FPGA_ChipObject_Aliases_h__
|
||||
@ -0,0 +1,9 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __RoboRIO_FRC_ChipObject_Aliases_h__
|
||||
#define __RoboRIO_FRC_ChipObject_Aliases_h__
|
||||
|
||||
#define nRoboRIO_FPGANamespace nFRC_2016_16_1_0
|
||||
|
||||
#endif // __RoboRIO_FRC_ChipObject_Aliases_h__
|
||||
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,15 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_C0EF_1_1_0_nInterfaceGlobals_h__
|
||||
#define __nFRC_C0EF_1_1_0_nInterfaceGlobals_h__
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_C0EF_1_1_0
|
||||
{
|
||||
extern unsigned int g_currentTargetClass;
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_C0EF_1_1_0_nInterfaceGlobals_h__
|
||||
@ -0,0 +1,73 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_C0EF_1_1_0_AI_h__
|
||||
#define __nFRC_C0EF_1_1_0_AI_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_C0EF_1_1_0
|
||||
{
|
||||
|
||||
class tAI
|
||||
{
|
||||
public:
|
||||
tAI(){}
|
||||
virtual ~tAI(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tAI* create(unsigned char sys_index, tRioStatusCode *status);
|
||||
virtual unsigned char getSystemIndex() = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 2,
|
||||
} tIfaceConstants;
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tCalOK_IfaceConstants;
|
||||
|
||||
virtual bool readCalOK(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tDoneTime_IfaceConstants;
|
||||
|
||||
virtual unsigned int readDoneTime(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumOffsetRegisters = 8,
|
||||
} tOffset_IfaceConstants;
|
||||
|
||||
virtual signed int readOffset(unsigned char reg_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumLSBWeightRegisters = 8,
|
||||
} tLSBWeight_IfaceConstants;
|
||||
|
||||
virtual unsigned int readLSBWeight(unsigned char reg_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tAI(const tAI&);
|
||||
void operator=(const tAI&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_C0EF_1_1_0_AI_h__
|
||||
@ -0,0 +1,69 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_C0EF_1_1_0_Global_h__
|
||||
#define __nFRC_C0EF_1_1_0_Global_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_C0EF_1_1_0
|
||||
{
|
||||
|
||||
class tGlobal
|
||||
{
|
||||
public:
|
||||
tGlobal(){}
|
||||
virtual ~tGlobal(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tGlobal* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tVersion_IfaceConstants;
|
||||
|
||||
virtual unsigned short readVersion(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tLocalTime_IfaceConstants;
|
||||
|
||||
virtual unsigned int readLocalTime(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tRevision_IfaceConstants;
|
||||
|
||||
virtual unsigned int readRevision(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tReserved_IfaceConstants;
|
||||
|
||||
virtual unsigned char readReserved(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tGlobal(const tGlobal&);
|
||||
void operator=(const tGlobal&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_C0EF_1_1_0_Global_h__
|
||||
@ -0,0 +1,79 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_C0EF_1_1_0_LoadOut_h__
|
||||
#define __nFRC_C0EF_1_1_0_LoadOut_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_C0EF_1_1_0
|
||||
{
|
||||
|
||||
class tLoadOut
|
||||
{
|
||||
public:
|
||||
tLoadOut(){}
|
||||
virtual ~tLoadOut(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tLoadOut* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tReady_IfaceConstants;
|
||||
|
||||
virtual bool readReady(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tDoneTime_IfaceConstants;
|
||||
|
||||
virtual unsigned int readDoneTime(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumVendorIDRegisters = 8,
|
||||
} tVendorID_IfaceConstants;
|
||||
|
||||
virtual unsigned short readVendorID(unsigned char reg_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSerialNumberRegisters = 8,
|
||||
} tSerialNumber_IfaceConstants;
|
||||
|
||||
virtual unsigned int readSerialNumber(unsigned char reg_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumModuleIDRegisters = 8,
|
||||
} tModuleID_IfaceConstants;
|
||||
|
||||
virtual unsigned short readModuleID(unsigned char reg_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
private:
|
||||
tLoadOut(const tLoadOut&);
|
||||
void operator=(const tLoadOut&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_C0EF_1_1_0_LoadOut_h__
|
||||
@ -0,0 +1,15 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_nInterfaceGlobals_h__
|
||||
#define __nFRC_2016_16_1_0_nInterfaceGlobals_h__
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
extern unsigned int g_currentTargetClass;
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_nInterfaceGlobals_h__
|
||||
@ -0,0 +1,143 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_AI_h__
|
||||
#define __nFRC_2016_16_1_0_AI_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tAI
|
||||
{
|
||||
public:
|
||||
tAI(){}
|
||||
virtual ~tAI(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tAI* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned ScanSize : 3;
|
||||
unsigned ConvertRate : 26;
|
||||
#else
|
||||
unsigned ConvertRate : 26;
|
||||
unsigned ScanSize : 3;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 29;
|
||||
};
|
||||
} tConfig;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Channel : 3;
|
||||
unsigned Averaged : 1;
|
||||
#else
|
||||
unsigned Averaged : 1;
|
||||
unsigned Channel : 3;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 4;
|
||||
};
|
||||
} tReadSelect;
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tOutput_IfaceConstants;
|
||||
|
||||
virtual signed int readOutput(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tConfig_IfaceConstants;
|
||||
|
||||
virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_ScanSize(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_ConvertRate(unsigned int value, tRioStatusCode *status) = 0;
|
||||
virtual tConfig readConfig(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_ScanSize(tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readConfig_ConvertRate(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tLoopTiming_IfaceConstants;
|
||||
|
||||
virtual unsigned int readLoopTiming(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumOversampleBitsElements = 8,
|
||||
} tOversampleBits_IfaceConstants;
|
||||
|
||||
virtual void writeOversampleBits(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readOversampleBits(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumAverageBitsElements = 8,
|
||||
} tAverageBits_IfaceConstants;
|
||||
|
||||
virtual void writeAverageBits(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readAverageBits(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumScanListElements = 8,
|
||||
} tScanList_IfaceConstants;
|
||||
|
||||
virtual void writeScanList(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readScanList(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tLatchOutput_IfaceConstants;
|
||||
|
||||
virtual void strobeLatchOutput(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tReadSelect_IfaceConstants;
|
||||
|
||||
virtual void writeReadSelect(tReadSelect value, tRioStatusCode *status) = 0;
|
||||
virtual void writeReadSelect_Channel(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeReadSelect_Averaged(bool value, tRioStatusCode *status) = 0;
|
||||
virtual tReadSelect readReadSelect(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readReadSelect_Channel(tRioStatusCode *status) = 0;
|
||||
virtual bool readReadSelect_Averaged(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tAI(const tAI&);
|
||||
void operator=(const tAI&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_AI_h__
|
||||
@ -0,0 +1,50 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_AO_h__
|
||||
#define __nFRC_2016_16_1_0_AO_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tAO
|
||||
{
|
||||
public:
|
||||
tAO(){}
|
||||
virtual ~tAO(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tAO* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumMXPRegisters = 2,
|
||||
} tMXP_IfaceConstants;
|
||||
|
||||
virtual void writeMXP(unsigned char reg_index, unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readMXP(unsigned char reg_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
private:
|
||||
tAO(const tAO&);
|
||||
void operator=(const tAO&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_AO_h__
|
||||
@ -0,0 +1,102 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_Accel_h__
|
||||
#define __nFRC_2016_16_1_0_Accel_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tAccel
|
||||
{
|
||||
public:
|
||||
tAccel(){}
|
||||
virtual ~tAccel(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tAccel* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tSTAT_IfaceConstants;
|
||||
|
||||
virtual unsigned char readSTAT(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tCNTR_IfaceConstants;
|
||||
|
||||
virtual void writeCNTR(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readCNTR(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tDATO_IfaceConstants;
|
||||
|
||||
virtual void writeDATO(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readDATO(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tCNFG_IfaceConstants;
|
||||
|
||||
virtual void writeCNFG(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readCNFG(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tCNTL_IfaceConstants;
|
||||
|
||||
virtual void writeCNTL(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readCNTL(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tDATI_IfaceConstants;
|
||||
|
||||
virtual unsigned char readDATI(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tGO_IfaceConstants;
|
||||
|
||||
virtual void strobeGO(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tADDR_IfaceConstants;
|
||||
|
||||
virtual void writeADDR(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readADDR(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tAccel(const tAccel&);
|
||||
void operator=(const tAccel&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_Accel_h__
|
||||
@ -0,0 +1,87 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_Accumulator_h__
|
||||
#define __nFRC_2016_16_1_0_Accumulator_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tAccumulator
|
||||
{
|
||||
public:
|
||||
tAccumulator(){}
|
||||
virtual ~tAccumulator(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tAccumulator* create(unsigned char sys_index, tRioStatusCode *status);
|
||||
virtual unsigned char getSystemIndex() = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 2,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
signed long long Value;
|
||||
unsigned Count : 32;
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
unsigned value2 : 32;
|
||||
unsigned value3 : 32;
|
||||
};
|
||||
} tOutput;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tOutput_IfaceConstants;
|
||||
|
||||
virtual tOutput readOutput(tRioStatusCode *status) = 0;
|
||||
virtual signed long long readOutput_Value(tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readOutput_Count(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tCenter_IfaceConstants;
|
||||
|
||||
virtual void writeCenter(signed int value, tRioStatusCode *status) = 0;
|
||||
virtual signed int readCenter(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tDeadband_IfaceConstants;
|
||||
|
||||
virtual void writeDeadband(signed int value, tRioStatusCode *status) = 0;
|
||||
virtual signed int readDeadband(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tReset_IfaceConstants;
|
||||
|
||||
virtual void strobeReset(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tAccumulator(const tAccumulator&);
|
||||
void operator=(const tAccumulator&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_Accumulator_h__
|
||||
@ -0,0 +1,57 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_Alarm_h__
|
||||
#define __nFRC_2016_16_1_0_Alarm_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tAlarm
|
||||
{
|
||||
public:
|
||||
tAlarm(){}
|
||||
virtual ~tAlarm(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tAlarm* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tEnable_IfaceConstants;
|
||||
|
||||
virtual void writeEnable(bool value, tRioStatusCode *status) = 0;
|
||||
virtual bool readEnable(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tTriggerTime_IfaceConstants;
|
||||
|
||||
virtual void writeTriggerTime(unsigned int value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readTriggerTime(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tAlarm(const tAlarm&);
|
||||
void operator=(const tAlarm&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_Alarm_h__
|
||||
@ -0,0 +1,129 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_AnalogTrigger_h__
|
||||
#define __nFRC_2016_16_1_0_AnalogTrigger_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tAnalogTrigger
|
||||
{
|
||||
public:
|
||||
tAnalogTrigger(){}
|
||||
virtual ~tAnalogTrigger(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tAnalogTrigger* create(unsigned char sys_index, tRioStatusCode *status);
|
||||
virtual unsigned char getSystemIndex() = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 8,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned InHysteresis : 1;
|
||||
unsigned OverLimit : 1;
|
||||
unsigned Rising : 1;
|
||||
unsigned Falling : 1;
|
||||
#else
|
||||
unsigned Falling : 1;
|
||||
unsigned Rising : 1;
|
||||
unsigned OverLimit : 1;
|
||||
unsigned InHysteresis : 1;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 4;
|
||||
};
|
||||
} tOutput;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Channel : 3;
|
||||
unsigned Averaged : 1;
|
||||
unsigned Filter : 1;
|
||||
unsigned FloatingRollover : 1;
|
||||
signed RolloverLimit : 8;
|
||||
#else
|
||||
signed RolloverLimit : 8;
|
||||
unsigned FloatingRollover : 1;
|
||||
unsigned Filter : 1;
|
||||
unsigned Averaged : 1;
|
||||
unsigned Channel : 3;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 14;
|
||||
};
|
||||
} tSourceSelect;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tSourceSelect_IfaceConstants;
|
||||
|
||||
virtual void writeSourceSelect(tSourceSelect value, tRioStatusCode *status) = 0;
|
||||
virtual void writeSourceSelect_Channel(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeSourceSelect_Averaged(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeSourceSelect_Filter(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeSourceSelect_FloatingRollover(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeSourceSelect_RolloverLimit(signed short value, tRioStatusCode *status) = 0;
|
||||
virtual tSourceSelect readSourceSelect(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readSourceSelect_Channel(tRioStatusCode *status) = 0;
|
||||
virtual bool readSourceSelect_Averaged(tRioStatusCode *status) = 0;
|
||||
virtual bool readSourceSelect_Filter(tRioStatusCode *status) = 0;
|
||||
virtual bool readSourceSelect_FloatingRollover(tRioStatusCode *status) = 0;
|
||||
virtual signed short readSourceSelect_RolloverLimit(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tUpperLimit_IfaceConstants;
|
||||
|
||||
virtual void writeUpperLimit(signed int value, tRioStatusCode *status) = 0;
|
||||
virtual signed int readUpperLimit(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tLowerLimit_IfaceConstants;
|
||||
|
||||
virtual void writeLowerLimit(signed int value, tRioStatusCode *status) = 0;
|
||||
virtual signed int readLowerLimit(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumOutputElements = 8,
|
||||
} tOutput_IfaceConstants;
|
||||
|
||||
virtual tOutput readOutput(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
virtual bool readOutput_InHysteresis(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
virtual bool readOutput_OverLimit(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
virtual bool readOutput_Rising(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
virtual bool readOutput_Falling(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tAnalogTrigger(const tAnalogTrigger&);
|
||||
void operator=(const tAnalogTrigger&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_AnalogTrigger_h__
|
||||
@ -0,0 +1,90 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_BIST_h__
|
||||
#define __nFRC_2016_16_1_0_BIST_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tBIST
|
||||
{
|
||||
public:
|
||||
tBIST(){}
|
||||
virtual ~tBIST(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tBIST* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tDO0SquareTicks_IfaceConstants;
|
||||
|
||||
virtual void writeDO0SquareTicks(unsigned int value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readDO0SquareTicks(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tEnable_IfaceConstants;
|
||||
|
||||
virtual void writeEnable(bool value, tRioStatusCode *status) = 0;
|
||||
virtual bool readEnable(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tDO1SquareEnable_IfaceConstants;
|
||||
|
||||
virtual void writeDO1SquareEnable(bool value, tRioStatusCode *status) = 0;
|
||||
virtual bool readDO1SquareEnable(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tDO0SquareEnable_IfaceConstants;
|
||||
|
||||
virtual void writeDO0SquareEnable(bool value, tRioStatusCode *status) = 0;
|
||||
virtual bool readDO0SquareEnable(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tDO1SquareTicks_IfaceConstants;
|
||||
|
||||
virtual void writeDO1SquareTicks(unsigned int value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readDO1SquareTicks(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumDORegisters = 2,
|
||||
} tDO_IfaceConstants;
|
||||
|
||||
virtual void writeDO(unsigned char reg_index, bool value, tRioStatusCode *status) = 0;
|
||||
virtual bool readDO(unsigned char reg_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
private:
|
||||
tBIST(const tBIST&);
|
||||
void operator=(const tBIST&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_BIST_h__
|
||||
@ -0,0 +1,219 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_Counter_h__
|
||||
#define __nFRC_2016_16_1_0_Counter_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tCounter
|
||||
{
|
||||
public:
|
||||
tCounter(){}
|
||||
virtual ~tCounter(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tCounter* create(unsigned char sys_index, tRioStatusCode *status);
|
||||
virtual unsigned char getSystemIndex() = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 8,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Direction : 1;
|
||||
signed Value : 31;
|
||||
#else
|
||||
signed Value : 31;
|
||||
unsigned Direction : 1;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tOutput;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned UpSource_Channel : 4;
|
||||
unsigned UpSource_Module : 1;
|
||||
unsigned UpSource_AnalogTrigger : 1;
|
||||
unsigned DownSource_Channel : 4;
|
||||
unsigned DownSource_Module : 1;
|
||||
unsigned DownSource_AnalogTrigger : 1;
|
||||
unsigned IndexSource_Channel : 4;
|
||||
unsigned IndexSource_Module : 1;
|
||||
unsigned IndexSource_AnalogTrigger : 1;
|
||||
unsigned IndexActiveHigh : 1;
|
||||
unsigned IndexEdgeSensitive : 1;
|
||||
unsigned UpRisingEdge : 1;
|
||||
unsigned UpFallingEdge : 1;
|
||||
unsigned DownRisingEdge : 1;
|
||||
unsigned DownFallingEdge : 1;
|
||||
unsigned Mode : 2;
|
||||
unsigned PulseLengthThreshold : 6;
|
||||
#else
|
||||
unsigned PulseLengthThreshold : 6;
|
||||
unsigned Mode : 2;
|
||||
unsigned DownFallingEdge : 1;
|
||||
unsigned DownRisingEdge : 1;
|
||||
unsigned UpFallingEdge : 1;
|
||||
unsigned UpRisingEdge : 1;
|
||||
unsigned IndexEdgeSensitive : 1;
|
||||
unsigned IndexActiveHigh : 1;
|
||||
unsigned IndexSource_AnalogTrigger : 1;
|
||||
unsigned IndexSource_Module : 1;
|
||||
unsigned IndexSource_Channel : 4;
|
||||
unsigned DownSource_AnalogTrigger : 1;
|
||||
unsigned DownSource_Module : 1;
|
||||
unsigned DownSource_Channel : 4;
|
||||
unsigned UpSource_AnalogTrigger : 1;
|
||||
unsigned UpSource_Module : 1;
|
||||
unsigned UpSource_Channel : 4;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tConfig;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Period : 23;
|
||||
signed Count : 8;
|
||||
unsigned Stalled : 1;
|
||||
#else
|
||||
unsigned Stalled : 1;
|
||||
signed Count : 8;
|
||||
unsigned Period : 23;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tTimerOutput;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned StallPeriod : 24;
|
||||
unsigned AverageSize : 7;
|
||||
unsigned UpdateWhenEmpty : 1;
|
||||
#else
|
||||
unsigned UpdateWhenEmpty : 1;
|
||||
unsigned AverageSize : 7;
|
||||
unsigned StallPeriod : 24;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tTimerConfig;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tOutput_IfaceConstants;
|
||||
|
||||
virtual tOutput readOutput(tRioStatusCode *status) = 0;
|
||||
virtual bool readOutput_Direction(tRioStatusCode *status) = 0;
|
||||
virtual signed int readOutput_Value(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tConfig_IfaceConstants;
|
||||
|
||||
virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_UpSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_UpSource_Module(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_UpSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_DownSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_DownSource_Module(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_DownSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_IndexSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_IndexEdgeSensitive(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_UpRisingEdge(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_UpFallingEdge(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_DownRisingEdge(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_DownFallingEdge(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Mode(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_PulseLengthThreshold(unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual tConfig readConfig(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_UpSource_Channel(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_UpSource_Module(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_UpSource_AnalogTrigger(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_DownSource_Channel(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_DownSource_Module(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_DownSource_AnalogTrigger(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_IndexSource_Channel(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_IndexEdgeSensitive(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_UpRisingEdge(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_UpFallingEdge(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_DownRisingEdge(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_DownFallingEdge(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_Mode(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readConfig_PulseLengthThreshold(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tTimerOutput_IfaceConstants;
|
||||
|
||||
virtual tTimerOutput readTimerOutput(tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readTimerOutput_Period(tRioStatusCode *status) = 0;
|
||||
virtual signed char readTimerOutput_Count(tRioStatusCode *status) = 0;
|
||||
virtual bool readTimerOutput_Stalled(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tReset_IfaceConstants;
|
||||
|
||||
virtual void strobeReset(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tTimerConfig_IfaceConstants;
|
||||
|
||||
virtual void writeTimerConfig(tTimerConfig value, tRioStatusCode *status) = 0;
|
||||
virtual void writeTimerConfig_StallPeriod(unsigned int value, tRioStatusCode *status) = 0;
|
||||
virtual void writeTimerConfig_AverageSize(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeTimerConfig_UpdateWhenEmpty(bool value, tRioStatusCode *status) = 0;
|
||||
virtual tTimerConfig readTimerConfig(tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readTimerConfig_StallPeriod(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readTimerConfig_AverageSize(tRioStatusCode *status) = 0;
|
||||
virtual bool readTimerConfig_UpdateWhenEmpty(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tCounter(const tCounter&);
|
||||
void operator=(const tCounter&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_Counter_h__
|
||||
@ -0,0 +1,248 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_DIO_h__
|
||||
#define __nFRC_2016_16_1_0_DIO_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tDIO
|
||||
{
|
||||
public:
|
||||
tDIO(){}
|
||||
virtual ~tDIO(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tDIO* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Headers : 10;
|
||||
unsigned Reserved : 6;
|
||||
unsigned MXP : 16;
|
||||
#else
|
||||
unsigned MXP : 16;
|
||||
unsigned Reserved : 6;
|
||||
unsigned Headers : 10;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tDO;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Headers : 10;
|
||||
unsigned Reserved : 6;
|
||||
unsigned MXP : 16;
|
||||
#else
|
||||
unsigned MXP : 16;
|
||||
unsigned Reserved : 6;
|
||||
unsigned Headers : 10;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tOutputEnable;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Headers : 10;
|
||||
unsigned Reserved : 6;
|
||||
unsigned MXP : 16;
|
||||
#else
|
||||
unsigned MXP : 16;
|
||||
unsigned Reserved : 6;
|
||||
unsigned Headers : 10;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tPulse;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Headers : 10;
|
||||
unsigned Reserved : 6;
|
||||
unsigned MXP : 16;
|
||||
#else
|
||||
unsigned MXP : 16;
|
||||
unsigned Reserved : 6;
|
||||
unsigned Headers : 10;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tDI;
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tDO_IfaceConstants;
|
||||
|
||||
virtual void writeDO(tDO value, tRioStatusCode *status) = 0;
|
||||
virtual void writeDO_Headers(unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual void writeDO_Reserved(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeDO_MXP(unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual tDO readDO(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readDO_Headers(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readDO_Reserved(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readDO_MXP(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumPWMDutyCycleAElements = 4,
|
||||
} tPWMDutyCycleA_IfaceConstants;
|
||||
|
||||
virtual void writePWMDutyCycleA(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readPWMDutyCycleA(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumPWMDutyCycleBElements = 2,
|
||||
} tPWMDutyCycleB_IfaceConstants;
|
||||
|
||||
virtual void writePWMDutyCycleB(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readPWMDutyCycleB(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumFilterSelectHdrElements = 16,
|
||||
} tFilterSelectHdr_IfaceConstants;
|
||||
|
||||
virtual void writeFilterSelectHdr(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readFilterSelectHdr(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tOutputEnable_IfaceConstants;
|
||||
|
||||
virtual void writeOutputEnable(tOutputEnable value, tRioStatusCode *status) = 0;
|
||||
virtual void writeOutputEnable_Headers(unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual void writeOutputEnable_Reserved(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeOutputEnable_MXP(unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual tOutputEnable readOutputEnable(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readOutputEnable_Headers(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readOutputEnable_Reserved(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readOutputEnable_MXP(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumPWMOutputSelectElements = 6,
|
||||
} tPWMOutputSelect_IfaceConstants;
|
||||
|
||||
virtual void writePWMOutputSelect(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readPWMOutputSelect(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tPulse_IfaceConstants;
|
||||
|
||||
virtual void writePulse(tPulse value, tRioStatusCode *status) = 0;
|
||||
virtual void writePulse_Headers(unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual void writePulse_Reserved(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writePulse_MXP(unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual tPulse readPulse(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readPulse_Headers(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readPulse_Reserved(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readPulse_MXP(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tDI_IfaceConstants;
|
||||
|
||||
virtual tDI readDI(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readDI_Headers(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readDI_Reserved(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readDI_MXP(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tEnableMXPSpecialFunction_IfaceConstants;
|
||||
|
||||
virtual void writeEnableMXPSpecialFunction(unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readEnableMXPSpecialFunction(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumFilterSelectMXPElements = 16,
|
||||
} tFilterSelectMXP_IfaceConstants;
|
||||
|
||||
virtual void writeFilterSelectMXP(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readFilterSelectMXP(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tPulseLength_IfaceConstants;
|
||||
|
||||
virtual void writePulseLength(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readPulseLength(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tPWMPeriodPower_IfaceConstants;
|
||||
|
||||
virtual void writePWMPeriodPower(unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readPWMPeriodPower(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumFilterPeriodMXPRegisters = 3,
|
||||
} tFilterPeriodMXP_IfaceConstants;
|
||||
|
||||
virtual void writeFilterPeriodMXP(unsigned char reg_index, unsigned int value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readFilterPeriodMXP(unsigned char reg_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumFilterPeriodHdrRegisters = 3,
|
||||
} tFilterPeriodHdr_IfaceConstants;
|
||||
|
||||
virtual void writeFilterPeriodHdr(unsigned char reg_index, unsigned int value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readFilterPeriodHdr(unsigned char reg_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
private:
|
||||
tDIO(const tDIO&);
|
||||
void operator=(const tDIO&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_DIO_h__
|
||||
@ -0,0 +1,197 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_DMA_h__
|
||||
#define __nFRC_2016_16_1_0_DMA_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tDMA
|
||||
{
|
||||
public:
|
||||
tDMA(){}
|
||||
virtual ~tDMA(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tDMA* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Pause : 1;
|
||||
unsigned Enable_AI0_Low : 1;
|
||||
unsigned Enable_AI0_High : 1;
|
||||
unsigned Enable_AIAveraged0_Low : 1;
|
||||
unsigned Enable_AIAveraged0_High : 1;
|
||||
unsigned Enable_AI1_Low : 1;
|
||||
unsigned Enable_AI1_High : 1;
|
||||
unsigned Enable_AIAveraged1_Low : 1;
|
||||
unsigned Enable_AIAveraged1_High : 1;
|
||||
unsigned Enable_Accumulator0 : 1;
|
||||
unsigned Enable_Accumulator1 : 1;
|
||||
unsigned Enable_DI : 1;
|
||||
unsigned Enable_AnalogTriggers : 1;
|
||||
unsigned Enable_Counters_Low : 1;
|
||||
unsigned Enable_Counters_High : 1;
|
||||
unsigned Enable_CounterTimers_Low : 1;
|
||||
unsigned Enable_CounterTimers_High : 1;
|
||||
unsigned Enable_Encoders_Low : 1;
|
||||
unsigned Enable_Encoders_High : 1;
|
||||
unsigned Enable_EncoderTimers_Low : 1;
|
||||
unsigned Enable_EncoderTimers_High : 1;
|
||||
unsigned ExternalClock : 1;
|
||||
#else
|
||||
unsigned ExternalClock : 1;
|
||||
unsigned Enable_EncoderTimers_High : 1;
|
||||
unsigned Enable_EncoderTimers_Low : 1;
|
||||
unsigned Enable_Encoders_High : 1;
|
||||
unsigned Enable_Encoders_Low : 1;
|
||||
unsigned Enable_CounterTimers_High : 1;
|
||||
unsigned Enable_CounterTimers_Low : 1;
|
||||
unsigned Enable_Counters_High : 1;
|
||||
unsigned Enable_Counters_Low : 1;
|
||||
unsigned Enable_AnalogTriggers : 1;
|
||||
unsigned Enable_DI : 1;
|
||||
unsigned Enable_Accumulator1 : 1;
|
||||
unsigned Enable_Accumulator0 : 1;
|
||||
unsigned Enable_AIAveraged1_High : 1;
|
||||
unsigned Enable_AIAveraged1_Low : 1;
|
||||
unsigned Enable_AI1_High : 1;
|
||||
unsigned Enable_AI1_Low : 1;
|
||||
unsigned Enable_AIAveraged0_High : 1;
|
||||
unsigned Enable_AIAveraged0_Low : 1;
|
||||
unsigned Enable_AI0_High : 1;
|
||||
unsigned Enable_AI0_Low : 1;
|
||||
unsigned Pause : 1;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 22;
|
||||
};
|
||||
} tConfig;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned ExternalClockSource_Channel : 4;
|
||||
unsigned ExternalClockSource_Module : 1;
|
||||
unsigned ExternalClockSource_AnalogTrigger : 1;
|
||||
unsigned RisingEdge : 1;
|
||||
unsigned FallingEdge : 1;
|
||||
#else
|
||||
unsigned FallingEdge : 1;
|
||||
unsigned RisingEdge : 1;
|
||||
unsigned ExternalClockSource_AnalogTrigger : 1;
|
||||
unsigned ExternalClockSource_Module : 1;
|
||||
unsigned ExternalClockSource_Channel : 4;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 8;
|
||||
};
|
||||
} tExternalTriggers;
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tRate_IfaceConstants;
|
||||
|
||||
virtual void writeRate(unsigned int value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readRate(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tConfig_IfaceConstants;
|
||||
|
||||
virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Pause(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_AI0_Low(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_AI0_High(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_AIAveraged0_Low(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_AIAveraged0_High(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_AI1_Low(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_AI1_High(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_AIAveraged1_Low(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_AIAveraged1_High(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_Accumulator0(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_Accumulator1(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_DI(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_AnalogTriggers(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_Counters_Low(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_Counters_High(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_CounterTimers_Low(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_CounterTimers_High(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_Encoders_Low(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_Encoders_High(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_EncoderTimers_Low(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Enable_EncoderTimers_High(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_ExternalClock(bool value, tRioStatusCode *status) = 0;
|
||||
virtual tConfig readConfig(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Pause(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_AI0_Low(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_AI0_High(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_AIAveraged0_Low(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_AIAveraged0_High(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_AI1_Low(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_AI1_High(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_AIAveraged1_Low(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_AIAveraged1_High(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_Accumulator0(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_Accumulator1(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_DI(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_AnalogTriggers(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_Counters_Low(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_Counters_High(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_CounterTimers_Low(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_CounterTimers_High(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_Encoders_Low(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_Encoders_High(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_EncoderTimers_Low(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Enable_EncoderTimers_High(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_ExternalClock(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumExternalTriggersRegisters = 2,
|
||||
kNumExternalTriggersElements = 4,
|
||||
} tExternalTriggers_IfaceConstants;
|
||||
|
||||
virtual void writeExternalTriggers(unsigned char reg_index, unsigned char bitfield_index, tExternalTriggers value, tRioStatusCode *status) = 0;
|
||||
virtual void writeExternalTriggers_ExternalClockSource_Channel(unsigned char reg_index, unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeExternalTriggers_ExternalClockSource_Module(unsigned char reg_index, unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeExternalTriggers_ExternalClockSource_AnalogTrigger(unsigned char reg_index, unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeExternalTriggers_RisingEdge(unsigned char reg_index, unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeExternalTriggers_FallingEdge(unsigned char reg_index, unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
|
||||
virtual tExternalTriggers readExternalTriggers(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readExternalTriggers_ExternalClockSource_Channel(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readExternalTriggers_ExternalClockSource_Module(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
virtual bool readExternalTriggers_ExternalClockSource_AnalogTrigger(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
virtual bool readExternalTriggers_RisingEdge(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
virtual bool readExternalTriggers_FallingEdge(unsigned char reg_index, unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
private:
|
||||
tDMA(const tDMA&);
|
||||
void operator=(const tDMA&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_DMA_h__
|
||||
@ -0,0 +1,199 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_Encoder_h__
|
||||
#define __nFRC_2016_16_1_0_Encoder_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tEncoder
|
||||
{
|
||||
public:
|
||||
tEncoder(){}
|
||||
virtual ~tEncoder(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tEncoder* create(unsigned char sys_index, tRioStatusCode *status);
|
||||
virtual unsigned char getSystemIndex() = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 8,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Direction : 1;
|
||||
signed Value : 31;
|
||||
#else
|
||||
signed Value : 31;
|
||||
unsigned Direction : 1;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tOutput;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned ASource_Channel : 4;
|
||||
unsigned ASource_Module : 1;
|
||||
unsigned ASource_AnalogTrigger : 1;
|
||||
unsigned BSource_Channel : 4;
|
||||
unsigned BSource_Module : 1;
|
||||
unsigned BSource_AnalogTrigger : 1;
|
||||
unsigned IndexSource_Channel : 4;
|
||||
unsigned IndexSource_Module : 1;
|
||||
unsigned IndexSource_AnalogTrigger : 1;
|
||||
unsigned IndexActiveHigh : 1;
|
||||
unsigned IndexEdgeSensitive : 1;
|
||||
unsigned Reverse : 1;
|
||||
#else
|
||||
unsigned Reverse : 1;
|
||||
unsigned IndexEdgeSensitive : 1;
|
||||
unsigned IndexActiveHigh : 1;
|
||||
unsigned IndexSource_AnalogTrigger : 1;
|
||||
unsigned IndexSource_Module : 1;
|
||||
unsigned IndexSource_Channel : 4;
|
||||
unsigned BSource_AnalogTrigger : 1;
|
||||
unsigned BSource_Module : 1;
|
||||
unsigned BSource_Channel : 4;
|
||||
unsigned ASource_AnalogTrigger : 1;
|
||||
unsigned ASource_Module : 1;
|
||||
unsigned ASource_Channel : 4;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 21;
|
||||
};
|
||||
} tConfig;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Period : 23;
|
||||
signed Count : 8;
|
||||
unsigned Stalled : 1;
|
||||
#else
|
||||
unsigned Stalled : 1;
|
||||
signed Count : 8;
|
||||
unsigned Period : 23;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tTimerOutput;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned StallPeriod : 24;
|
||||
unsigned AverageSize : 7;
|
||||
unsigned UpdateWhenEmpty : 1;
|
||||
#else
|
||||
unsigned UpdateWhenEmpty : 1;
|
||||
unsigned AverageSize : 7;
|
||||
unsigned StallPeriod : 24;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tTimerConfig;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tOutput_IfaceConstants;
|
||||
|
||||
virtual tOutput readOutput(tRioStatusCode *status) = 0;
|
||||
virtual bool readOutput_Direction(tRioStatusCode *status) = 0;
|
||||
virtual signed int readOutput_Value(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tConfig_IfaceConstants;
|
||||
|
||||
virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_ASource_Channel(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_ASource_Module(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_ASource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_BSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_BSource_Module(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_BSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_IndexSource_Channel(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_IndexSource_Module(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_IndexSource_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_IndexActiveHigh(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_IndexEdgeSensitive(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Reverse(bool value, tRioStatusCode *status) = 0;
|
||||
virtual tConfig readConfig(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_ASource_Channel(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_ASource_Module(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_ASource_AnalogTrigger(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_BSource_Channel(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_BSource_Module(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_BSource_AnalogTrigger(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_IndexSource_Channel(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_IndexSource_Module(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_IndexSource_AnalogTrigger(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_IndexActiveHigh(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_IndexEdgeSensitive(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Reverse(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tTimerOutput_IfaceConstants;
|
||||
|
||||
virtual tTimerOutput readTimerOutput(tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readTimerOutput_Period(tRioStatusCode *status) = 0;
|
||||
virtual signed char readTimerOutput_Count(tRioStatusCode *status) = 0;
|
||||
virtual bool readTimerOutput_Stalled(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tReset_IfaceConstants;
|
||||
|
||||
virtual void strobeReset(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tTimerConfig_IfaceConstants;
|
||||
|
||||
virtual void writeTimerConfig(tTimerConfig value, tRioStatusCode *status) = 0;
|
||||
virtual void writeTimerConfig_StallPeriod(unsigned int value, tRioStatusCode *status) = 0;
|
||||
virtual void writeTimerConfig_AverageSize(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeTimerConfig_UpdateWhenEmpty(bool value, tRioStatusCode *status) = 0;
|
||||
virtual tTimerConfig readTimerConfig(tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readTimerConfig_StallPeriod(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readTimerConfig_AverageSize(tRioStatusCode *status) = 0;
|
||||
virtual bool readTimerConfig_UpdateWhenEmpty(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tEncoder(const tEncoder&);
|
||||
void operator=(const tEncoder&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_Encoder_h__
|
||||
@ -0,0 +1,104 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_Global_h__
|
||||
#define __nFRC_2016_16_1_0_Global_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tGlobal
|
||||
{
|
||||
public:
|
||||
tGlobal(){}
|
||||
virtual ~tGlobal(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tGlobal* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Radio : 8;
|
||||
unsigned Comm : 8;
|
||||
unsigned Mode : 8;
|
||||
unsigned RSL : 1;
|
||||
#else
|
||||
unsigned RSL : 1;
|
||||
unsigned Mode : 8;
|
||||
unsigned Comm : 8;
|
||||
unsigned Radio : 8;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 25;
|
||||
};
|
||||
} tLEDs;
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tLEDs_IfaceConstants;
|
||||
|
||||
virtual void writeLEDs(tLEDs value, tRioStatusCode *status) = 0;
|
||||
virtual void writeLEDs_Radio(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeLEDs_Comm(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeLEDs_Mode(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeLEDs_RSL(bool value, tRioStatusCode *status) = 0;
|
||||
virtual tLEDs readLEDs(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readLEDs_Radio(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readLEDs_Comm(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readLEDs_Mode(tRioStatusCode *status) = 0;
|
||||
virtual bool readLEDs_RSL(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tVersion_IfaceConstants;
|
||||
|
||||
virtual unsigned short readVersion(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tLocalTime_IfaceConstants;
|
||||
|
||||
virtual unsigned int readLocalTime(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tUserButton_IfaceConstants;
|
||||
|
||||
virtual bool readUserButton(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tRevision_IfaceConstants;
|
||||
|
||||
virtual unsigned int readRevision(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tGlobal(const tGlobal&);
|
||||
void operator=(const tGlobal&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_Global_h__
|
||||
@ -0,0 +1,100 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_Interrupt_h__
|
||||
#define __nFRC_2016_16_1_0_Interrupt_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tInterrupt
|
||||
{
|
||||
public:
|
||||
tInterrupt(){}
|
||||
virtual ~tInterrupt(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tInterrupt* create(unsigned char sys_index, tRioStatusCode *status);
|
||||
virtual unsigned char getSystemIndex() = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 8,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Source_Channel : 4;
|
||||
unsigned Source_Module : 1;
|
||||
unsigned Source_AnalogTrigger : 1;
|
||||
unsigned RisingEdge : 1;
|
||||
unsigned FallingEdge : 1;
|
||||
unsigned WaitForAck : 1;
|
||||
#else
|
||||
unsigned WaitForAck : 1;
|
||||
unsigned FallingEdge : 1;
|
||||
unsigned RisingEdge : 1;
|
||||
unsigned Source_AnalogTrigger : 1;
|
||||
unsigned Source_Module : 1;
|
||||
unsigned Source_Channel : 4;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 9;
|
||||
};
|
||||
} tConfig;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tFallingTimeStamp_IfaceConstants;
|
||||
|
||||
virtual unsigned int readFallingTimeStamp(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tConfig_IfaceConstants;
|
||||
|
||||
virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Source_Channel(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Source_Module(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Source_AnalogTrigger(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_RisingEdge(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_FallingEdge(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_WaitForAck(bool value, tRioStatusCode *status) = 0;
|
||||
virtual tConfig readConfig(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_Source_Channel(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_Source_Module(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_Source_AnalogTrigger(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_RisingEdge(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_FallingEdge(tRioStatusCode *status) = 0;
|
||||
virtual bool readConfig_WaitForAck(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tRisingTimeStamp_IfaceConstants;
|
||||
|
||||
virtual unsigned int readRisingTimeStamp(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tInterrupt(const tInterrupt&);
|
||||
void operator=(const tInterrupt&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_Interrupt_h__
|
||||
@ -0,0 +1,120 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_PWM_h__
|
||||
#define __nFRC_2016_16_1_0_PWM_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tPWM
|
||||
{
|
||||
public:
|
||||
tPWM(){}
|
||||
virtual ~tPWM(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tPWM* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Period : 16;
|
||||
unsigned MinHigh : 16;
|
||||
#else
|
||||
unsigned MinHigh : 16;
|
||||
unsigned Period : 16;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tConfig;
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tConfig_IfaceConstants;
|
||||
|
||||
virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_Period(unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_MinHigh(unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual tConfig readConfig(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readConfig_Period(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readConfig_MinHigh(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tLoopTiming_IfaceConstants;
|
||||
|
||||
virtual unsigned short readLoopTiming(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumPeriodScaleMXPElements = 10,
|
||||
} tPeriodScaleMXP_IfaceConstants;
|
||||
|
||||
virtual void writePeriodScaleMXP(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readPeriodScaleMXP(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumPeriodScaleHdrElements = 10,
|
||||
} tPeriodScaleHdr_IfaceConstants;
|
||||
|
||||
virtual void writePeriodScaleHdr(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readPeriodScaleHdr(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumZeroLatchElements = 20,
|
||||
} tZeroLatch_IfaceConstants;
|
||||
|
||||
virtual void writeZeroLatch(unsigned char bitfield_index, bool value, tRioStatusCode *status) = 0;
|
||||
virtual bool readZeroLatch(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumHdrRegisters = 10,
|
||||
} tHdr_IfaceConstants;
|
||||
|
||||
virtual void writeHdr(unsigned char reg_index, unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readHdr(unsigned char reg_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumMXPRegisters = 10,
|
||||
} tMXP_IfaceConstants;
|
||||
|
||||
virtual void writeMXP(unsigned char reg_index, unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readMXP(unsigned char reg_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
private:
|
||||
tPWM(const tPWM&);
|
||||
void operator=(const tPWM&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_PWM_h__
|
||||
@ -0,0 +1,220 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_Power_h__
|
||||
#define __nFRC_2016_16_1_0_Power_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tPower
|
||||
{
|
||||
public:
|
||||
tPower(){}
|
||||
virtual ~tPower(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tPower* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned User3V3 : 8;
|
||||
unsigned User5V : 8;
|
||||
unsigned User6V : 8;
|
||||
#else
|
||||
unsigned User6V : 8;
|
||||
unsigned User5V : 8;
|
||||
unsigned User3V3 : 8;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 24;
|
||||
};
|
||||
} tStatus;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned OverCurrentFaultCount3V3 : 8;
|
||||
unsigned OverCurrentFaultCount5V : 8;
|
||||
unsigned OverCurrentFaultCount6V : 8;
|
||||
unsigned UnderVoltageFaultCount5V : 8;
|
||||
#else
|
||||
unsigned UnderVoltageFaultCount5V : 8;
|
||||
unsigned OverCurrentFaultCount6V : 8;
|
||||
unsigned OverCurrentFaultCount5V : 8;
|
||||
unsigned OverCurrentFaultCount3V3 : 8;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tFaultCounts;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned User3V3 : 1;
|
||||
unsigned User5V : 1;
|
||||
unsigned User6V : 1;
|
||||
#else
|
||||
unsigned User6V : 1;
|
||||
unsigned User5V : 1;
|
||||
unsigned User3V3 : 1;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 3;
|
||||
};
|
||||
} tDisable;
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tUserVoltage3V3_IfaceConstants;
|
||||
|
||||
virtual unsigned short readUserVoltage3V3(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tStatus_IfaceConstants;
|
||||
|
||||
virtual tStatus readStatus(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readStatus_User3V3(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readStatus_User5V(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readStatus_User6V(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tUserVoltage6V_IfaceConstants;
|
||||
|
||||
virtual unsigned short readUserVoltage6V(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tOnChipTemperature_IfaceConstants;
|
||||
|
||||
virtual unsigned short readOnChipTemperature(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tUserVoltage5V_IfaceConstants;
|
||||
|
||||
virtual unsigned short readUserVoltage5V(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tResetFaultCounts_IfaceConstants;
|
||||
|
||||
virtual void strobeResetFaultCounts(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tIntegratedIO_IfaceConstants;
|
||||
|
||||
virtual unsigned short readIntegratedIO(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tMXP_DIOVoltage_IfaceConstants;
|
||||
|
||||
virtual unsigned short readMXP_DIOVoltage(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tUserCurrent3V3_IfaceConstants;
|
||||
|
||||
virtual unsigned short readUserCurrent3V3(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tVinVoltage_IfaceConstants;
|
||||
|
||||
virtual unsigned short readVinVoltage(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tUserCurrent6V_IfaceConstants;
|
||||
|
||||
virtual unsigned short readUserCurrent6V(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tUserCurrent5V_IfaceConstants;
|
||||
|
||||
virtual unsigned short readUserCurrent5V(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tAOVoltage_IfaceConstants;
|
||||
|
||||
virtual unsigned short readAOVoltage(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tFaultCounts_IfaceConstants;
|
||||
|
||||
virtual tFaultCounts readFaultCounts(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readFaultCounts_OverCurrentFaultCount3V3(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readFaultCounts_OverCurrentFaultCount5V(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readFaultCounts_OverCurrentFaultCount6V(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readFaultCounts_UnderVoltageFaultCount5V(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tVinCurrent_IfaceConstants;
|
||||
|
||||
virtual unsigned short readVinCurrent(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tDisable_IfaceConstants;
|
||||
|
||||
virtual void writeDisable(tDisable value, tRioStatusCode *status) = 0;
|
||||
virtual void writeDisable_User3V3(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeDisable_User5V(bool value, tRioStatusCode *status) = 0;
|
||||
virtual void writeDisable_User6V(bool value, tRioStatusCode *status) = 0;
|
||||
virtual tDisable readDisable(tRioStatusCode *status) = 0;
|
||||
virtual bool readDisable_User3V3(tRioStatusCode *status) = 0;
|
||||
virtual bool readDisable_User5V(tRioStatusCode *status) = 0;
|
||||
virtual bool readDisable_User6V(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tPower(const tPower&);
|
||||
void operator=(const tPower&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_Power_h__
|
||||
@ -0,0 +1,68 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_Relay_h__
|
||||
#define __nFRC_2016_16_1_0_Relay_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tRelay
|
||||
{
|
||||
public:
|
||||
tRelay(){}
|
||||
virtual ~tRelay(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tRelay* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Forward : 4;
|
||||
unsigned Reverse : 4;
|
||||
#else
|
||||
unsigned Reverse : 4;
|
||||
unsigned Forward : 4;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 8;
|
||||
};
|
||||
} tValue;
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tValue_IfaceConstants;
|
||||
|
||||
virtual void writeValue(tValue value, tRioStatusCode *status) = 0;
|
||||
virtual void writeValue_Forward(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeValue_Reverse(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual tValue readValue(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readValue_Forward(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readValue_Reverse(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tRelay(const tRelay&);
|
||||
void operator=(const tRelay&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_Relay_h__
|
||||
@ -0,0 +1,68 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_SPI_h__
|
||||
#define __nFRC_2016_16_1_0_SPI_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tSPI
|
||||
{
|
||||
public:
|
||||
tSPI(){}
|
||||
virtual ~tSPI(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tSPI* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Hdr : 4;
|
||||
unsigned MXP : 1;
|
||||
#else
|
||||
unsigned MXP : 1;
|
||||
unsigned Hdr : 4;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 5;
|
||||
};
|
||||
} tChipSelectActiveHigh;
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tChipSelectActiveHigh_IfaceConstants;
|
||||
|
||||
virtual void writeChipSelectActiveHigh(tChipSelectActiveHigh value, tRioStatusCode *status) = 0;
|
||||
virtual void writeChipSelectActiveHigh_Hdr(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeChipSelectActiveHigh_MXP(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual tChipSelectActiveHigh readChipSelectActiveHigh(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readChipSelectActiveHigh_Hdr(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readChipSelectActiveHigh_MXP(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tSPI(const tSPI&);
|
||||
void operator=(const tSPI&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_SPI_h__
|
||||
@ -0,0 +1,108 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2016_16_1_0_SysWatchdog_h__
|
||||
#define __nFRC_2016_16_1_0_SysWatchdog_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2016_16_1_0
|
||||
{
|
||||
|
||||
class tSysWatchdog
|
||||
{
|
||||
public:
|
||||
tSysWatchdog(){}
|
||||
virtual ~tSysWatchdog(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tSysWatchdog* create(tRioStatusCode *status);
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 1,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned SystemActive : 1;
|
||||
unsigned PowerAlive : 1;
|
||||
unsigned SysDisableCount : 15;
|
||||
unsigned PowerDisableCount : 15;
|
||||
#else
|
||||
unsigned PowerDisableCount : 15;
|
||||
unsigned SysDisableCount : 15;
|
||||
unsigned PowerAlive : 1;
|
||||
unsigned SystemActive : 1;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 32;
|
||||
};
|
||||
} tStatus;
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tStatus_IfaceConstants;
|
||||
|
||||
virtual tStatus readStatus(tRioStatusCode *status) = 0;
|
||||
virtual bool readStatus_SystemActive(tRioStatusCode *status) = 0;
|
||||
virtual bool readStatus_PowerAlive(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readStatus_SysDisableCount(tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readStatus_PowerDisableCount(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tCommand_IfaceConstants;
|
||||
|
||||
virtual void writeCommand(unsigned short value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned short readCommand(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tChallenge_IfaceConstants;
|
||||
|
||||
virtual unsigned char readChallenge(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tActive_IfaceConstants;
|
||||
|
||||
virtual void writeActive(bool value, tRioStatusCode *status) = 0;
|
||||
virtual bool readActive(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tTimer_IfaceConstants;
|
||||
|
||||
virtual unsigned int readTimer(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tForcedKills_IfaceConstants;
|
||||
|
||||
virtual unsigned short readForcedKills(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tSysWatchdog(const tSysWatchdog&);
|
||||
void operator=(const tSysWatchdog&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2016_16_1_0_SysWatchdog_h__
|
||||
@ -0,0 +1,15 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2012_1_6_4_nInterfaceGlobals_h__
|
||||
#define __nFRC_2012_1_6_4_nInterfaceGlobals_h__
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2012_1_6_4
|
||||
{
|
||||
extern unsigned int g_currentTargetClass;
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2012_1_6_4_nInterfaceGlobals_h__
|
||||
@ -0,0 +1,149 @@
|
||||
// Copyright (c) National Instruments 2008. All Rights Reserved.
|
||||
// Do Not Edit... this file is generated!
|
||||
|
||||
#ifndef __nFRC_2012_1_6_4_AI_h__
|
||||
#define __nFRC_2012_1_6_4_AI_h__
|
||||
|
||||
#include "tSystemInterface.h"
|
||||
|
||||
namespace nFPGA
|
||||
{
|
||||
namespace nFRC_2012_1_6_4
|
||||
{
|
||||
|
||||
class tAI
|
||||
{
|
||||
public:
|
||||
tAI(){}
|
||||
virtual ~tAI(){}
|
||||
|
||||
virtual tSystemInterface* getSystemInterface() = 0;
|
||||
static tAI* create(unsigned char sys_index, tRioStatusCode *status);
|
||||
virtual unsigned char getSystemIndex() = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumSystems = 2,
|
||||
} tIfaceConstants;
|
||||
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned Channel : 3;
|
||||
unsigned Module : 1;
|
||||
unsigned Averaged : 1;
|
||||
#else
|
||||
unsigned Averaged : 1;
|
||||
unsigned Module : 1;
|
||||
unsigned Channel : 3;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 5;
|
||||
};
|
||||
} tReadSelect;
|
||||
typedef
|
||||
union{
|
||||
struct{
|
||||
#ifdef __vxworks
|
||||
unsigned ScanSize : 3;
|
||||
unsigned ConvertRate : 26;
|
||||
#else
|
||||
unsigned ConvertRate : 26;
|
||||
unsigned ScanSize : 3;
|
||||
#endif
|
||||
};
|
||||
struct{
|
||||
unsigned value : 29;
|
||||
};
|
||||
} tConfig;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tConfig_IfaceConstants;
|
||||
|
||||
virtual void writeConfig(tConfig value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_ScanSize(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeConfig_ConvertRate(unsigned int value, tRioStatusCode *status) = 0;
|
||||
virtual tConfig readConfig(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readConfig_ScanSize(tRioStatusCode *status) = 0;
|
||||
virtual unsigned int readConfig_ConvertRate(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tLoopTiming_IfaceConstants;
|
||||
|
||||
virtual unsigned int readLoopTiming(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumOversampleBitsElements = 8,
|
||||
} tOversampleBits_IfaceConstants;
|
||||
|
||||
virtual void writeOversampleBits(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readOversampleBits(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumAverageBitsElements = 8,
|
||||
} tAverageBits_IfaceConstants;
|
||||
|
||||
virtual void writeAverageBits(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readAverageBits(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
kNumScanListElements = 8,
|
||||
} tScanList_IfaceConstants;
|
||||
|
||||
virtual void writeScanList(unsigned char bitfield_index, unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readScanList(unsigned char bitfield_index, tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tOutput_IfaceConstants;
|
||||
|
||||
virtual signed int readOutput(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tLatchOutput_IfaceConstants;
|
||||
|
||||
virtual void strobeLatchOutput(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
} tReadSelect_IfaceConstants;
|
||||
|
||||
virtual void writeReadSelect(tReadSelect value, tRioStatusCode *status) = 0;
|
||||
virtual void writeReadSelect_Channel(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeReadSelect_Module(unsigned char value, tRioStatusCode *status) = 0;
|
||||
virtual void writeReadSelect_Averaged(bool value, tRioStatusCode *status) = 0;
|
||||
virtual tReadSelect readReadSelect(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readReadSelect_Channel(tRioStatusCode *status) = 0;
|
||||
virtual unsigned char readReadSelect_Module(tRioStatusCode *status) = 0;
|
||||
virtual bool readReadSelect_Averaged(tRioStatusCode *status) = 0;
|
||||
|
||||
|
||||
|
||||
|
||||
private:
|
||||
tAI(const tAI&);
|
||||
void operator=(const tAI&);
|
||||
};
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#endif // __nFRC_2012_1_6_4_AI_h__
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user