12 #include <HAL/Counter.h> 13 #include <HAL/Types.h> 15 #include "AnalogTrigger.h" 16 #include "CounterBase.h" 17 #include "SensorBase.h" 39 kExternalDirection = 3
42 explicit Counter(Mode mode = kTwoPulse);
45 explicit Counter(std::shared_ptr<DigitalSource> source);
49 Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
50 std::shared_ptr<DigitalSource> downSource,
bool inverted);
55 void SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
56 AnalogTriggerType triggerType);
58 void SetUpSource(std::shared_ptr<DigitalSource> source);
65 AnalogTriggerType triggerType);
66 void SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
67 AnalogTriggerType triggerType);
82 int Get()
const override;
83 void Reset()
override;
92 int GetFPGAIndex()
const {
return m_index; }
98 std::shared_ptr<DigitalSource> m_upSource;
101 std::shared_ptr<DigitalSource> m_downSource;
104 HAL_CounterHandle m_counter = HAL_kInvalidHandle;
int Get() const override
Read the current counter value.
Definition: Counter.cpp:486
void ClearDownSource()
Disable the down counting source to the counter.
Definition: Counter.cpp:385
void SetDownSourceEdge(bool risingEdge, bool fallingEdge)
Set the edge sensitivity on a down counting source.
Definition: Counter.cpp:370
Definition: RobotController.cpp:14
Counter(Mode mode=kTwoPulse)
Create an instance of a counter where no sources are selected.
Definition: Counter.cpp:32
Base class for all sensors.
Definition: SensorBase.h:25
bool GetDirection() const override
The last direction the counter value changed.
Definition: Counter.cpp:587
Class to enable glitch filtering on a set of digital inputs.
Definition: DigitalGlitchFilter.h:31
~Counter() override
Delete the Counter object.
Definition: Counter.cpp:168
void Reset() override
Reset the Counter to zero.
Definition: Counter.cpp:500
Interface for counting the number of ticks on a digital input channel.
Definition: CounterBase.h:21
void SetUpSourceEdge(bool risingEdge, bool fallingEdge)
Set the edge sensitivity on an up counting source.
Definition: Counter.cpp:261
Class for counting the number of ticks on a digital input channel.
Definition: Counter.h:33
void SetExternalDirectionMode()
Set external direction mode on this counter.
Definition: Counter.cpp:411
void SetDownSource(int channel)
Set the down counting source to be a digital input channel.
Definition: Counter.cpp:290
void SetUpdateWhenEmpty(bool enabled)
Select whether you want to continue updating the event timer output when there are no samples capture...
Definition: Counter.cpp:557
DigitalSource Interface.
Definition: DigitalSource.h:25
void SetPulseLengthMode(double threshold)
Configure the counter to count in up or down based on the length of the input pulse.
Definition: Counter.cpp:439
Definition: AnalogTrigger.h:21
void SetSamplesToAverage(int samplesToAverage)
Set the Samples to Average which specifies the number of samples of the timer to average when calcula...
Definition: Counter.cpp:469
void SetUpDownCounterMode()
Set standard up / down counting mode on this counter.
Definition: Counter.cpp:398
void InitSendable(SendableBuilder &builder) override
Initializes this Sendable object.
Definition: Counter.cpp:610
Definition: SendableBuilder.h:23
double GetPeriod() const override
Get the Period of the most recent count.
Definition: Counter.cpp:515
void SetReverseDirection(bool reverseDirection)
Set the Counter to return reversed sensing on the direction.
Definition: Counter.cpp:603
void SetUpSource(int channel)
Set the upsource for the counter as a digital input channel.
Definition: Counter.cpp:183
bool GetStopped() const override
Determine if the clock is stopped.
Definition: Counter.cpp:574
void SetMaxPeriod(double maxPeriod) override
Set the maximum period where the device is still considered "moving".
Definition: Counter.cpp:533
int GetSamplesToAverage() const
Get the Samples to Average which specifies the number of samples of the timer to average when calcula...
Definition: Counter.cpp:455
void SetSemiPeriodMode(bool highSemiPeriod)
Set Semi-period mode on this counter.
Definition: Counter.cpp:423
void ClearUpSource()
Disable the up counting source to the counter.
Definition: Counter.cpp:276