WPILibC++  unspecified
Encoder.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2008-2017 FIRST. 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 <memory>
11 #include <string>
12 
13 #include <HAL/Encoder.h>
14 
15 #include "Counter.h"
16 #include "CounterBase.h"
17 #include "LiveWindow/LiveWindowSendable.h"
18 #include "PIDSource.h"
19 #include "SensorBase.h"
20 #include "networktables/NetworkTableEntry.h"
21 
22 namespace frc {
23 
24 class DigitalSource;
26 
42 class Encoder : public SensorBase,
43  public CounterBase,
44  public PIDSource,
45  public LiveWindowSendable {
46  public:
47  enum IndexingType {
48  kResetWhileHigh,
49  kResetWhileLow,
50  kResetOnFallingEdge,
51  kResetOnRisingEdge
52  };
53 
54  Encoder(int aChannel, int bChannel, bool reverseDirection = false,
55  EncodingType encodingType = k4X);
56  Encoder(std::shared_ptr<DigitalSource> aSource,
57  std::shared_ptr<DigitalSource> bSource, bool reverseDirection = false,
58  EncodingType encodingType = k4X);
59  Encoder(DigitalSource* aSource, DigitalSource* bSource,
60  bool reverseDirection = false, EncodingType encodingType = k4X);
61  Encoder(DigitalSource& aSource, DigitalSource& bSource,
62  bool reverseDirection = false, EncodingType encodingType = k4X);
63  virtual ~Encoder();
64 
65  // CounterBase interface
66  int Get() const override;
67  int GetRaw() const;
68  int GetEncodingScale() const;
69  void Reset() override;
70  double GetPeriod() const override;
71  void SetMaxPeriod(double maxPeriod) override;
72  bool GetStopped() const override;
73  bool GetDirection() const override;
74 
75  double GetDistance() const;
76  double GetRate() const;
77  void SetMinRate(double minRate);
78  void SetDistancePerPulse(double distancePerPulse);
79  void SetReverseDirection(bool reverseDirection);
80  void SetSamplesToAverage(int samplesToAverage);
81  int GetSamplesToAverage() const;
82  double PIDGet() override;
83 
84  void SetIndexSource(int channel, IndexingType type = kResetOnRisingEdge);
85  void SetIndexSource(const DigitalSource& source,
86  IndexingType type = kResetOnRisingEdge);
87 
88  void UpdateTable() override;
89  void StartLiveWindowMode() override;
90  void StopLiveWindowMode() override;
91  std::string GetSmartDashboardType() const override;
92  void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
93 
94  int GetFPGAIndex() const;
95 
96  private:
97  void InitEncoder(bool reverseDirection, EncodingType encodingType);
98 
99  double DecodingScaleFactor() const;
100 
101  std::shared_ptr<DigitalSource> m_aSource; // the A phase of the quad encoder
102  std::shared_ptr<DigitalSource> m_bSource; // the B phase of the quad encoder
103  std::unique_ptr<DigitalSource> m_indexSource = nullptr;
104  HAL_EncoderHandle m_encoder = HAL_kInvalidHandle;
105 
106  nt::NetworkTableEntry m_speedEntry;
107  nt::NetworkTableEntry m_distanceEntry;
108  nt::NetworkTableEntry m_distancePerTickEntry;
109  friend class DigitalGlitchFilter;
110 };
111 
112 } // namespace frc
double GetDistance() const
Get the distance the robot has driven since the last reset.
Definition: Encoder.cpp:313
int GetSamplesToAverage() const
Get the Samples to Average which specifies the number of samples of the timer to average when calcula...
Definition: Encoder.cpp:419
void SetReverseDirection(bool reverseDirection)
Set the direction sensing for this encoder.
Definition: Encoder.cpp:382
void SetMinRate(double minRate)
Set the minimum rate of the device before the hardware reports it stopped.
Definition: Encoder.cpp:343
Definition: Timer.cpp:18
std::string GetSmartDashboardType() const override
Definition: Encoder.cpp:498
void UpdateTable() override
Update the table for this sendable object with the latest values.
Definition: Encoder.cpp:482
void SetIndexSource(int channel, IndexingType type=kResetOnRisingEdge)
Set the index source for the encoder.
Definition: Encoder.cpp:451
int Get() const override
Gets the current count.
Definition: Encoder.cpp:203
bool GetStopped() const override
Determine if the encoder is stopped.
Definition: Encoder.cpp:274
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
Class to read quad encoders.
Definition: Encoder.h:42
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:19
Class to enable glitch filtering on a set of digital inputs.
Definition: DigitalGlitchFilter.h:28
bool GetDirection() const override
The last direction the encoder value changed.
Definition: Encoder.cpp:287
Interface for counting the number of ticks on a digital input channel.
Definition: CounterBase.h:20
double GetPeriod() const override
Returns the period of the most recent pulse.
Definition: Encoder.cpp:234
virtual ~Encoder()
Free the resources for an Encoder.
Definition: Encoder.cpp:160
void SetSamplesToAverage(int samplesToAverage)
Set the Samples to Average which specifies the number of samples of the timer to average when calcula...
Definition: Encoder.cpp:398
void InitTable(std::shared_ptr< nt::NetworkTable > subTable) override
Initializes a table for this sendable object.
Definition: Encoder.cpp:508
void SetDistancePerPulse(double distancePerPulse)
Set the distance per pulse for this encoder.
Definition: Encoder.cpp:367
DigitalSource Interface.
Definition: DigitalSource.h:26
double PIDGet() override
Implement the PIDSource interface.
Definition: Encoder.cpp:431
void SetMaxPeriod(double maxPeriod) override
Sets the maximum period for stopped detection.
Definition: Encoder.cpp:258
int GetEncodingScale() const
The encoding scale factor 1x, 2x, or 4x, per the requested encodingType.
Definition: Encoder.cpp:171
double GetRate() const
Get the current rate of the encoder.
Definition: Encoder.cpp:329
void Reset() override
Reset the Encoder distance to zero.
Definition: Encoder.cpp:216
void StopLiveWindowMode() override
Stop having this sendable object automatically respond to value changes.
Definition: Encoder.cpp:496
int GetRaw() const
Gets the raw value from the encoder.
Definition: Encoder.cpp:186
Encoder(int aChannel, int bChannel, bool reverseDirection=false, EncodingType encodingType=k4X)
Encoder constructor.
Definition: Encoder.cpp:75
NetworkTables Entry.
Definition: NetworkTableEntry.h:30
void StartLiveWindowMode() override
Start having this sendable object automatically respond to value changes reflect the value on the tab...
Definition: Encoder.cpp:494