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bool | Get () const |
| Get the state of the analog trigger output. More...
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HAL_Handle | GetPortHandleForRouting () const override |
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AnalogTriggerType | GetAnalogTriggerTypeForRouting () const override |
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bool | IsAnalogTrigger () const override |
| Is source an AnalogTrigger.
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int | GetChannel () const override |
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void | InitSendable (SendableBuilder &builder) override |
| Initializes this Sendable object. More...
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virtual void | RequestInterrupts (HAL_InterruptHandlerFunction handler, void *param) |
| Request one of the 8 interrupts asynchronously on this digital input. More...
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virtual void | RequestInterrupts () |
| Request one of the 8 interrupts synchronously on this digital input. More...
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virtual void | CancelInterrupts () |
| Cancel interrupts on this device. More...
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virtual WaitResult | WaitForInterrupt (double timeout, bool ignorePrevious=true) |
| In synchronous mode, wait for the defined interrupt to occur. More...
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virtual void | EnableInterrupts () |
| Enable interrupts to occur on this input. More...
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virtual void | DisableInterrupts () |
| Disable Interrupts without without deallocating structures.
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virtual double | ReadRisingTimestamp () |
| Return the timestamp for the rising interrupt that occurred most recently. More...
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virtual double | ReadFallingTimestamp () |
| Return the timestamp for the falling interrupt that occurred most recently. More...
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virtual void | SetUpSourceEdge (bool risingEdge, bool fallingEdge) |
| Set which edge to trigger interrupts on. More...
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| SensorBase (const SensorBase &)=delete |
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SensorBase & | operator= (const SensorBase &)=delete |
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| ErrorBase (const ErrorBase &)=delete |
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ErrorBase & | operator= (const ErrorBase &)=delete |
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virtual Error & | GetError () |
| Retrieve the current error. More...
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virtual const Error & | GetError () const |
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virtual void | SetErrnoError (const llvm::Twine &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...
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virtual void | SetImaqError (int success, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
| Set the current error information associated from the nivision Imaq API. More...
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virtual void | SetError (Error::Code code, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
| Set the current error information associated with this sensor. More...
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virtual void | SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
| Set the current error information associated with this sensor. More...
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virtual void | SetWPIError (const llvm::Twine &errorMessage, Error::Code code, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) const |
| Set the current error information associated with this sensor. More...
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virtual void | CloneError (const ErrorBase &rhs) const |
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virtual void | ClearError () const |
| Clear the current error information associated with this sensor.
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virtual bool | StatusIsFatal () const |
| Check if the current error code represents a fatal error. More...
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| SendableBase (bool addLiveWindow=true) |
| Creates an instance of the sensor base. More...
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| ~SendableBase () override |
| Free the resources used by this object.
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std::string | GetName () const final |
| Gets the name of this Sendable object. More...
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void | SetName (const llvm::Twine &name) final |
| Sets the name of this Sendable object. More...
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std::string | GetSubsystem () const final |
| Gets the subsystem name of this Sendable object. More...
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void | SetSubsystem (const llvm::Twine &subsystem) final |
| Sets the subsystem name of this Sendable object. More...
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void | SetName (const llvm::Twine &subsystem, const llvm::Twine &name) |
| Sets both the subsystem name and device name of this Sendable object. More...
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enum | WaitResult { kTimeout = 0x0,
kRisingEdge = 0x1,
kFallingEdge = 0x100,
kBoth = 0x101
} |
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static int | GetDefaultSolenoidModule () |
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static bool | CheckSolenoidModule (int moduleNumber) |
| Check that the solenoid module number is valid. More...
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static bool | CheckDigitalChannel (int channel) |
| Check that the digital channel number is valid. More...
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static bool | CheckRelayChannel (int channel) |
| Check that the relay channel number is valid. More...
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static bool | CheckPWMChannel (int channel) |
| Check that the digital channel number is valid. More...
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static bool | CheckAnalogInputChannel (int channel) |
| Check that the analog input number is value. More...
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static bool | CheckAnalogOutputChannel (int channel) |
| Check that the analog output number is valid. More...
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static bool | CheckSolenoidChannel (int channel) |
| Verify that the solenoid channel number is within limits. More...
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static bool | CheckPDPChannel (int channel) |
| Verify that the power distribution channel number is within limits. More...
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static void | SetGlobalError (Error::Code code, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) |
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static void | SetGlobalWPIError (const llvm::Twine &errorMessage, const llvm::Twine &contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) |
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static Error & | GetGlobalError () |
| Retrieve the current global error.
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static const int | kDigitalChannels = HAL_GetNumDigitalChannels() |
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static const int | kAnalogInputs = HAL_GetNumAnalogInputs() |
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static const int | kAnalogOutputs |
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static const int | kSolenoidChannels = HAL_GetNumSolenoidChannels() |
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static const int | kSolenoidModules = HAL_GetNumPCMModules() |
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static const int | kPwmChannels = HAL_GetNumPWMChannels() |
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static const int | kRelayChannels = HAL_GetNumRelayHeaders() |
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static const int | kPDPChannels = HAL_GetNumPDPChannels() |
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HAL_InterruptHandle | m_interrupt = HAL_kInvalidHandle |
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Error | m_error |
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static wpi::mutex | _globalErrorMutex |
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static Error | _globalError |
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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.