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