17 #include "LiveWindow/LiveWindowSendable.h"
18 #include "PIDSource.h"
19 #include "SensorBase.h"
41 enum DistanceUnit { kInches = 0, kMilliMeters = 1 };
44 DistanceUnit units = kInches);
47 DistanceUnit units = kInches);
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);
60 bool IsEnabled()
const {
return m_enabled; }
61 void SetEnabled(
bool enable) { m_enabled = enable; }
72 void InitTable(std::shared_ptr<ITable> subTable)
override;
73 std::shared_ptr<ITable>
GetTable()
const override;
78 static void UltrasonicChecker();
81 static constexpr
double kPingTime = 10 * 1e-6;
83 static const int kPriority = 64;
85 static constexpr
double kMaxUltrasonicTime = 0.1;
86 static constexpr
double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
90 static std::set<Ultrasonic*> m_sensors;
91 static std::atomic<bool> m_automaticEnabled;
93 std::shared_ptr<DigitalOutput> m_pingChannel;
94 std::shared_ptr<DigitalInput> m_echoChannel;
95 bool m_enabled =
false;
99 std::shared_ptr<ITable> m_table;
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:34
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
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