12 #include <HAL/Encoder.h> 15 #include "CounterBase.h" 16 #include "PIDSource.h" 17 #include "SensorBase.h" 48 Encoder(
int aChannel,
int bChannel,
bool reverseDirection =
false,
49 EncodingType encodingType = k4X);
50 Encoder(std::shared_ptr<DigitalSource> aSource,
51 std::shared_ptr<DigitalSource> bSource,
bool reverseDirection =
false,
52 EncodingType encodingType = k4X);
54 bool reverseDirection =
false, EncodingType encodingType = k4X);
56 bool reverseDirection =
false, EncodingType encodingType = k4X);
60 int Get()
const override;
63 void Reset()
override;
79 void SetIndexSource(
int channel, IndexingType type = kResetOnRisingEdge);
81 IndexingType type = kResetOnRisingEdge);
85 int GetFPGAIndex()
const;
88 void InitEncoder(
bool reverseDirection, EncodingType encodingType);
90 double DecodingScaleFactor()
const;
92 std::shared_ptr<DigitalSource> m_aSource;
93 std::shared_ptr<DigitalSource> m_bSource;
94 std::shared_ptr<DigitalSource> m_indexSource =
nullptr;
95 HAL_EncoderHandle m_encoder = HAL_kInvalidHandle;
double GetDistance() const
Get the distance the robot has driven since the last reset.
Definition: Encoder.cpp:314
int GetSamplesToAverage() const
Get the Samples to Average which specifies the number of samples of the timer to average when calcula...
Definition: Encoder.cpp:433
void SetReverseDirection(bool reverseDirection)
Set the direction sensing for this encoder.
Definition: Encoder.cpp:396
void SetMinRate(double minRate)
Set the minimum rate of the device before the hardware reports it stopped.
Definition: Encoder.cpp:344
Definition: RobotController.cpp:14
void SetIndexSource(int channel, IndexingType type=kResetOnRisingEdge)
Set the index source for the encoder.
Definition: Encoder.cpp:465
int Get() const override
Gets the current count.
Definition: Encoder.cpp:204
bool GetStopped() const override
Determine if the encoder is stopped.
Definition: Encoder.cpp:275
Base class for all sensors.
Definition: SensorBase.h:25
Class to read quad encoders.
Definition: Encoder.h:39
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:20
Class to enable glitch filtering on a set of digital inputs.
Definition: DigitalGlitchFilter.h:31
bool GetDirection() const override
The last direction the encoder value changed.
Definition: Encoder.cpp:288
Interface for counting the number of ticks on a digital input channel.
Definition: CounterBase.h:21
double GetPeriod() const override
Returns the period of the most recent pulse.
Definition: Encoder.cpp:235
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:412
~Encoder() override
Free the resources for an Encoder.
Definition: Encoder.cpp:161
double GetDistancePerPulse() const
Get the distance per pulse for this encoder.
Definition: Encoder.cpp:380
void SetDistancePerPulse(double distancePerPulse)
Set the distance per pulse for this encoder.
Definition: Encoder.cpp:368
DigitalSource Interface.
Definition: DigitalSource.h:25
double PIDGet() override
Implement the PIDSource interface.
Definition: Encoder.cpp:445
void SetMaxPeriod(double maxPeriod) override
Sets the maximum period for stopped detection.
Definition: Encoder.cpp:259
int GetEncodingScale() const
The encoding scale factor 1x, 2x, or 4x, per the requested encodingType.
Definition: Encoder.cpp:172
double GetRate() const
Get the current rate of the encoder.
Definition: Encoder.cpp:330
void Reset() override
Reset the Encoder distance to zero.
Definition: Encoder.cpp:217
int GetRaw() const
Gets the raw value from the encoder.
Definition: Encoder.cpp:187
Encoder(int aChannel, int bChannel, bool reverseDirection=false, EncodingType encodingType=k4X)
Encoder constructor.
Definition: Encoder.cpp:74
Definition: SendableBuilder.h:23
void InitSendable(SendableBuilder &builder) override
Initializes this Sendable object.
Definition: Encoder.cpp:497