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Encoder.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) 2016-2018 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 <stdint.h>
11 
12 #include "hal/AnalogTrigger.h"
13 #include "hal/Types.h"
14 
15 // clang-format off
19 HAL_ENUM(HAL_EncoderIndexingType) {
20  HAL_kResetWhileHigh,
21  HAL_kResetWhileLow,
22  HAL_kResetOnFallingEdge,
23  HAL_kResetOnRisingEdge
24 };
25 
29 HAL_ENUM(HAL_EncoderEncodingType) {
30  HAL_Encoder_k1X,
31  HAL_Encoder_k2X,
32  HAL_Encoder_k4X
33 };
34 // clang-format on
35 
36 #ifdef __cplusplus
37 extern "C" {
38 #endif
39 
56 HAL_EncoderHandle HAL_InitializeEncoder(
57  HAL_Handle digitalSourceHandleA, HAL_AnalogTriggerType analogTriggerTypeA,
58  HAL_Handle digitalSourceHandleB, HAL_AnalogTriggerType analogTriggerTypeB,
59  HAL_Bool reverseDirection, HAL_EncoderEncodingType encodingType,
60  int32_t* status);
61 
67 void HAL_FreeEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
68 
77 int32_t HAL_GetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
78 
87 int32_t HAL_GetEncoderRaw(HAL_EncoderHandle encoderHandle, int32_t* status);
88 
97 int32_t HAL_GetEncoderEncodingScale(HAL_EncoderHandle encoderHandle,
98  int32_t* status);
99 
109 void HAL_ResetEncoder(HAL_EncoderHandle encoderHandle, int32_t* status);
110 
111 /*
112  * Gets the Period of the most recent count.
113  *
114  * Returns the time interval of the most recent count. This can be used for
115  * velocity calculations to determine shaft speed.
116  *
117  * @param encoderHandle the encoder handle
118  * @returns the period of the last two pulses in units of seconds
119  */
120 double HAL_GetEncoderPeriod(HAL_EncoderHandle encoderHandle, int32_t* status);
121 
133 void HAL_SetEncoderMaxPeriod(HAL_EncoderHandle encoderHandle, double maxPeriod,
134  int32_t* status);
135 
147 HAL_Bool HAL_GetEncoderStopped(HAL_EncoderHandle encoderHandle,
148  int32_t* status);
149 
156 HAL_Bool HAL_GetEncoderDirection(HAL_EncoderHandle encoderHandle,
157  int32_t* status);
158 
169 double HAL_GetEncoderDistance(HAL_EncoderHandle encoderHandle, int32_t* status);
170 
181 double HAL_GetEncoderRate(HAL_EncoderHandle encoderHandle, int32_t* status);
182 
194 void HAL_SetEncoderMinRate(HAL_EncoderHandle encoderHandle, double minRate,
195  int32_t* status);
196 
205 void HAL_SetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
206  double distancePerPulse, int32_t* status);
207 
216 void HAL_SetEncoderReverseDirection(HAL_EncoderHandle encoderHandle,
217  HAL_Bool reverseDirection, int32_t* status);
218 
225 void HAL_SetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
226  int32_t samplesToAverage, int32_t* status);
227 
234 int32_t HAL_GetEncoderSamplesToAverage(HAL_EncoderHandle encoderHandle,
235  int32_t* status);
236 
250 void HAL_SetEncoderIndexSource(HAL_EncoderHandle encoderHandle,
251  HAL_Handle digitalSourceHandle,
252  HAL_AnalogTriggerType analogTriggerType,
253  HAL_EncoderIndexingType type, int32_t* status);
254 
261 int32_t HAL_GetEncoderFPGAIndex(HAL_EncoderHandle encoderHandle,
262  int32_t* status);
263 
272 double HAL_GetEncoderDecodingScaleFactor(HAL_EncoderHandle encoderHandle,
273  int32_t* status);
274 
281 double HAL_GetEncoderDistancePerPulse(HAL_EncoderHandle encoderHandle,
282  int32_t* status);
283 
290 HAL_EncoderEncodingType HAL_GetEncoderEncodingType(
291  HAL_EncoderHandle encoderHandle, int32_t* status);
292 #ifdef __cplusplus
293 } // extern "C"
294 #endif