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frc::AnalogTriggerOutput Class Reference

Class to represent a specific output from an analog trigger. More...

#include <AnalogTriggerOutput.h>

Inheritance diagram for frc::AnalogTriggerOutput:
frc::DigitalSource frc::InterruptableSensorBase frc::SensorBase frc::ErrorBase

Public Member Functions

bool Get () const
 Get the state of the analog trigger output. More...
 
HAL_Handle GetPortHandleForRouting () const override
 
AnalogTriggerType GetAnalogTriggerTypeForRouting () const override
 
bool IsAnalogTrigger () const override
 Is source an AnalogTrigger.
 
int GetChannel () const override
 
- Public Member Functions inherited from frc::InterruptableSensorBase
virtual void RequestInterrupts (HAL_InterruptHandlerFunction handler, void *param)
 Asynchronus handler version. More...
 
virtual void RequestInterrupts ()
 Synchronus Wait version. More...
 
virtual void CancelInterrupts ()
 Free up the underlying chipobject functions. More...
 
virtual WaitResult WaitForInterrupt (double timeout, bool ignorePrevious=true)
 Synchronus version. More...
 
virtual void EnableInterrupts ()
 Enable interrupts - after finishing setup. More...
 
virtual void DisableInterrupts ()
 Disable, but don't deallocate. More...
 
virtual double ReadRisingTimestamp ()
 Return the timestamp for the rising interrupt that occurred. More...
 
virtual double ReadFallingTimestamp ()
 Return the timestamp for the falling interrupt that occurred. More...
 
virtual void SetUpSourceEdge (bool risingEdge, bool fallingEdge)
 Set which edge to trigger interrupts on. More...
 
- Public Member Functions inherited from frc::SensorBase
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 

Protected Member Functions

 AnalogTriggerOutput (const AnalogTrigger &trigger, AnalogTriggerType outputType)
 Create an object that represents one of the four outputs from an analog trigger. More...
 
- Protected Member Functions inherited from frc::InterruptableSensorBase
void AllocateInterrupts (bool watcher)
 

Friends

class AnalogTrigger
 

Additional Inherited Members

- Public Types inherited from frc::InterruptableSensorBase
enum  WaitResult { kTimeout = 0x0, kRisingEdge = 0x1, kFallingEdge = 0x100, kBoth = 0x101 }
 
- Static Public Member Functions inherited from frc::SensorBase
static int GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (int moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (int channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (int channel)
 Check that the relay channel number is valid. More...
 
static bool CheckPWMChannel (int channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInputChannel (int channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutputChannel (int channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (int channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (int channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Static Public Attributes inherited from frc::SensorBase
static const int kDigitalChannels = HAL_GetNumDigitalChannels()
 
static const int kAnalogInputs = HAL_GetNumAnalogInputs()
 
static const int kAnalogOutputs
 
static const int kSolenoidChannels = HAL_GetNumSolenoidChannels()
 
static const int kSolenoidModules = HAL_GetNumPCMModules()
 
static const int kPwmChannels = HAL_GetNumPWMChannels()
 
static const int kRelayChannels = HAL_GetNumRelayHeaders()
 
static const int kPDPChannels = HAL_GetNumPDPChannels()
 
- Protected Attributes inherited from frc::InterruptableSensorBase
HAL_InterruptHandle m_interrupt = HAL_kInvalidHandle
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 
- Static Protected Attributes inherited from frc::ErrorBase
static priority_mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

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 counter 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.

Constructor & Destructor Documentation

AnalogTriggerOutput::AnalogTriggerOutput ( const AnalogTrigger trigger,
AnalogTriggerType  outputType 
)
protected

Create an object that represents one of the four outputs from an analog trigger.

Because this class derives from DigitalSource, it can be passed into routing functions for Counter, Encoder, etc.

Parameters
triggerA pointer to the trigger for which this is an output.
outputTypeAn enum that specifies the output on the trigger to represent.

Member Function Documentation

bool AnalogTriggerOutput::Get ( ) const

Get the state of the analog trigger output.

Returns
The state of the analog trigger output.
AnalogTriggerType AnalogTriggerOutput::GetAnalogTriggerTypeForRouting ( ) const
overridevirtual
Returns
The type of analog trigger output to be used.

Implements frc::DigitalSource.

int AnalogTriggerOutput::GetChannel ( ) const
overridevirtual
Returns
The channel of the source.

Implements frc::DigitalSource.

HAL_Handle AnalogTriggerOutput::GetPortHandleForRouting ( ) const
overridevirtual
Returns
The HAL Handle to the specified source.

Implements frc::DigitalSource.


The documentation for this class was generated from the following files: