WPILibC++  unspecified
 All Classes Files Functions Variables Typedefs Enumerations Enumerator Pages
Ultrasonic.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2008-2017. All Rights Reserved. */
3 /* Open Source Software - may be modified and shared by FRC teams. The code */
4 /* must be accompanied by the FIRST BSD license file in the root directory of */
5 /* the project. */
6 /*----------------------------------------------------------------------------*/
7 
8 #pragma once
9 
10 #include <atomic>
11 #include <memory>
12 #include <set>
13 #include <string>
14 #include <thread>
15 
16 #include "Counter.h"
17 #include "LiveWindow/LiveWindowSendable.h"
18 #include "PIDSource.h"
19 #include "SensorBase.h"
20 
21 namespace frc {
22 
23 class DigitalInput;
24 class DigitalOutput;
25 
37 class Ultrasonic : public SensorBase,
38  public PIDSource,
39  public LiveWindowSendable {
40  public:
41  enum DistanceUnit { kInches = 0, kMilliMeters = 1 };
42 
43  Ultrasonic(DigitalOutput* pingChannel, DigitalInput* echoChannel,
44  DistanceUnit units = kInches);
45 
46  Ultrasonic(DigitalOutput& pingChannel, DigitalInput& echoChannel,
47  DistanceUnit units = kInches);
48 
49  Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
50  std::shared_ptr<DigitalInput> echoChannel,
51  DistanceUnit units = kInches);
52  Ultrasonic(int pingChannel, int echoChannel, DistanceUnit units = kInches);
53  virtual ~Ultrasonic();
54 
55  void Ping();
56  bool IsRangeValid() const;
57  static void SetAutomaticMode(bool enabling);
58  double GetRangeInches() const;
59  double GetRangeMM() const;
60  bool IsEnabled() const { return m_enabled; }
61  void SetEnabled(bool enable) { m_enabled = enable; }
62 
63  double PIDGet() override;
64  void SetPIDSourceType(PIDSourceType pidSource) override;
65  void SetDistanceUnits(DistanceUnit units);
66  DistanceUnit GetDistanceUnits() const;
67 
68  void UpdateTable() override;
69  void StartLiveWindowMode() override;
70  void StopLiveWindowMode() override;
71  std::string GetSmartDashboardType() const override;
72  void InitTable(std::shared_ptr<ITable> subTable) override;
73  std::shared_ptr<ITable> GetTable() const override;
74 
75  private:
76  void Initialize();
77 
78  static void UltrasonicChecker();
79 
80  // Time (sec) for the ping trigger pulse.
81  static constexpr double kPingTime = 10 * 1e-6;
82  // Priority that the ultrasonic round robin task runs.
83  static const int kPriority = 64;
84  // Max time (ms) between readings.
85  static constexpr double kMaxUltrasonicTime = 0.1;
86  static constexpr double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
87 
88  static std::thread
89  m_thread; // thread doing the round-robin automatic sensing
90  static std::set<Ultrasonic*> m_sensors; // ultrasonic sensors
91  static std::atomic<bool> m_automaticEnabled; // automatic round robin mode
92 
93  std::shared_ptr<DigitalOutput> m_pingChannel;
94  std::shared_ptr<DigitalInput> m_echoChannel;
95  bool m_enabled = false;
96  Counter m_counter;
97  DistanceUnit m_units;
98 
99  std::shared_ptr<ITable> m_table;
100 };
101 
102 } // namespace frc
Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel, DistanceUnit units=kInches)
Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo channel and a DigitalOutp...
Definition: Ultrasonic.cpp:115
double PIDGet() override
Get the range in the current DistanceUnit for the PIDSource base object.
Definition: Ultrasonic.cpp:286
Live Window Sendable is a special type of object sendable to the live window.
Definition: LiveWindowSendable.h:17
Base class for all sensors.
Definition: SensorBase.h:20
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:19
bool IsRangeValid() const
Check if there is a valid range measurement.
Definition: Ultrasonic.cpp:256
Class for counting the number of ticks on a digital input channel.
Definition: Counter.h:33
DistanceUnit GetDistanceUnits() const
Get the current DistanceUnit that is used for the PIDSource base object.
Definition: Ultrasonic.cpp:316
void SetDistanceUnits(DistanceUnit units)
Set the current DistanceUnit that should be used for the PIDSource base object.
Definition: Ultrasonic.cpp:309
void StopLiveWindowMode() override
Stop having this sendable object automatically respond to value changes.
Definition: Ultrasonic.cpp:328
double GetRangeInches() const
Get the range in inches from the ultrasonic sensor.
Definition: Ultrasonic.cpp:265
void InitTable(std::shared_ptr< ITable > subTable) override
Initializes a table for this sendable object.
Definition: Ultrasonic.cpp:332
void Ping()
Single ping to ultrasonic sensor.
Definition: Ultrasonic.cpp:242
static void SetAutomaticMode(bool enabling)
Turn Automatic mode on/off.
Definition: Ultrasonic.cpp:201
std::string GetSmartDashboardType() const override
Definition: Ultrasonic.cpp:330
std::shared_ptr< ITable > GetTable() const override
Definition: Ultrasonic.cpp:337
Class to write to digital outputs.
Definition: DigitalOutput.h:26
void StartLiveWindowMode() override
Start having this sendable object automatically respond to value changes reflect the value on the tab...
Definition: Ultrasonic.cpp:326
void UpdateTable() override
Update the table for this sendable object with the latest values.
Definition: Ultrasonic.cpp:320
double GetRangeMM() const
Get the range in millimeters from the ultrasonic sensor.
Definition: Ultrasonic.cpp:279
virtual ~Ultrasonic()
Destructor for the ultrasonic sensor.
Definition: Ultrasonic.cpp:176
Class to read a digital input.
Definition: DigitalInput.h:28
void SetPIDSourceType(PIDSourceType pidSource) override
Set which parameter you are using as a process control variable.
Definition: Ultrasonic.cpp:297
Ultrasonic rangefinder class.
Definition: Ultrasonic.h:37