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