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Jason 2016-01-28 11:33:19 -05:00
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<tool command="&quot;C:\Program Files (x86)\Microsoft Visual Studio 12.0\vc\bin\link&quot;" commandLinePattern="${COMMAND} /ignore:4099 /LIBPATH:&quot;C:\Program Files\Gazebo\FreeImage-vc12-x64-release-debug\x64\Debug\DLL&quot; /LIBPATH:&quot;C:\Program Files (x86)\Windows Kits\8.1\Lib\winv6.3\um\x64&quot; /LIBPATH:&quot;C:\Program Files\Gazebo\boost_1_56_0\lib64-msvc-12.0&quot; /LIBPATH:&quot;${WPILIB}\simulation\lib&quot; /LIBPATH:&quot;C:\Program Files\Gazebo\dlfcn-win32-vc12-x64-release-debug\build\install\Debug\lib&quot; /LIBPATH:&quot;C:\Program Files\Gazebo\pthread-w32\lib\x64&quot; /LIBPATH:&quot;C:\Program Files\Gazebo\ign-math\build\install\Debug\lib&quot; /LIBPATH:&quot;C:\Program Files\Gazebo\libcurl-vc12-x64-release-debug-static-ipv6-sspi-winssl\Debug\lib&quot; /LIBPATH:&quot;C:\Program Files\Gazebo\sdformat\build\install\Debug\lib&quot; /LIBPATH:&quot;C:\Program Files\Gazebo\protobuf-2.6.0-win64-vc12\vsprojects\Debug&quot; /LIBPATH:&quot;C:\Program Files\Gazebo\gazebo\build\install\Debug\lib&quot; /LIBPATH:&quot;C:\Program Files\Gazebo\tbb43_20141023oss\lib\intel64\vc12&quot; /LIBPATH:&quot;C:\Program Files (x86)\Microsoft Visual Studio 12.0\VC\lib\amd64&quot; /LIBPATH:&quot;C:\Program Files (x86)\Windows Kits\8.1\Lib\winv6.3\um\x64&quot; ${FLAGS} /OUT:${OUTPUT_PREFIX}${OUTPUT} ${INPUTS} /DEBUG WPILibSim.lib gazebo.lib gazebo_transport.lib gazebo_msgs.lib gazebo_common.lib gazebo_util.lib gazebo_client.lib gazebo_math.lib libprotobuf.lib sdformat.lib dl.lib libcurl_a_debug.lib ignition-math2.lib pthreadVC2.lib gz_msgs.lib IPHlpApi.lib /NODEFAULTLIB:libboost_system-vc120-mt-gd-1_56.lib /NODEFAULTLIB:libboost_thread-vc120-mt-gd-1_56.lib FreeImaged.lib" errorParsers="" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.680547965" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
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<tool command="as" commandLinePattern="${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">
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</folderInfo>
<sourceEntries>
<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
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</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration>
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<configuration configurationName="Simulate">
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/Debug/

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<?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>

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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

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# 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

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<?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>

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#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)

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/*
* 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_ */

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# 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

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<?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>

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/usr/local/frc/bin/netconsole-host /home/lvuser/FRCUserProgram

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/*----------------------------------------------------------------------------*/
/* 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;
};

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/*----------------------------------------------------------------------------*/
/* 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;
};

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/*----------------------------------------------------------------------------*/
/* 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
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/*----------------------------------------------------------------------------*/
/* 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
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/*----------------------------------------------------------------------------*/
/* 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;
};

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/*----------------------------------------------------------------------------*/
/* 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
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/*----------------------------------------------------------------------------*/
/* 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;
};

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/*----------------------------------------------------------------------------*/
/* 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
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/*----------------------------------------------------------------------------*/
/* 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;
};

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DriveBase/wpilib/cpp/current/include/AnalogTrigger.h Normal file
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/*----------------------------------------------------------------------------*/
/* 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;
};

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/*----------------------------------------------------------------------------*/
/* 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;
};

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/*----------------------------------------------------------------------------*/
/* 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]> {