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Ultrasonic.h
1 /*----------------------------------------------------------------------------*/
2 /* Copyright (c) FIRST 2008-2016. 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 "SensorBase.h"
11 #include "Counter.h"
12 #include "Task.h"
13 #include "PIDSource.h"
14 #include "LiveWindow/LiveWindowSendable.h"
15 #include <atomic>
16 #include <memory>
17 #include <set>
18 
19 class DigitalInput;
20 class DigitalOutput;
21 
38 class Ultrasonic : public SensorBase,
39  public PIDSource,
40  public LiveWindowSendable {
41  public:
42  enum DistanceUnit { kInches = 0, kMilliMeters = 1 };
43 
44  Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel,
45  DistanceUnit units = kInches);
46 
47  Ultrasonic(DigitalOutput &pingChannel, DigitalInput &echoChannel,
48  DistanceUnit units = kInches);
49 
50  Ultrasonic(std::shared_ptr<DigitalOutput> pingChannel,
51  std::shared_ptr<DigitalInput> echoChannel,
52  DistanceUnit units = kInches);
53  Ultrasonic(uint32_t pingChannel, uint32_t echoChannel,
54  DistanceUnit units = kInches);
55  virtual ~Ultrasonic();
56 
57  void Ping();
58  bool IsRangeValid() const;
59  static void SetAutomaticMode(bool enabling);
60  double GetRangeInches() const;
61  double GetRangeMM() const;
62  bool IsEnabled() const { return m_enabled; }
63  void SetEnabled(bool enable) { m_enabled = enable; }
64 
65  double PIDGet() override;
66  void SetPIDSourceType(PIDSourceType pidSource) override;
67  void SetDistanceUnits(DistanceUnit units);
68  DistanceUnit GetDistanceUnits() const;
69 
70  void UpdateTable() override;
71  void StartLiveWindowMode() override;
72  void StopLiveWindowMode() override;
73  std::string GetSmartDashboardType() const override;
74  void InitTable(std::shared_ptr<ITable> subTable) override;
75  std::shared_ptr<ITable> GetTable() const override;
76 
77  private:
78  void Initialize();
79 
80  static void UltrasonicChecker();
81 
82  // Time (sec) for the ping trigger pulse.
83  static constexpr double kPingTime = 10 * 1e-6;
84  // Priority that the ultrasonic round robin task runs.
85  static const uint32_t kPriority = 64;
86  // Max time (ms) between readings.
87  static constexpr double kMaxUltrasonicTime = 0.1;
88  static constexpr double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
89 
90  static Task m_task; // task doing the round-robin automatic sensing
91  static std::set<Ultrasonic*> m_sensors; // ultrasonic sensors
92  static std::atomic<bool> m_automaticEnabled; // automatic round robin mode
93 
94  std::shared_ptr<DigitalOutput> m_pingChannel;
95  std::shared_ptr<DigitalInput> m_echoChannel;
96  bool m_enabled = false;
97  Counter m_counter;
98  DistanceUnit m_units;
99 
100  std::shared_ptr<ITable> m_table;
101 };
std::shared_ptr< ITable > GetTable() const override
Definition: Ultrasonic.cpp:333
Class to read a digital input.
Definition: DigitalInput.h:28
void UpdateTable() override
Update the table for this sendable object with the latest values.
Definition: Ultrasonic.cpp:316
Live Window Sendable is a special type of object sendable to the live window.
Definition: LiveWindowSendable.h:18
virtual ~Ultrasonic()
Destructor for the ultrasonic sensor.
Definition: Ultrasonic.cpp:175
Class to write to digital outputs.
Definition: DigitalOutput.h:22
Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel, DistanceUnit units=kInches)
Create an instance of an Ultrasonic Sensor from a DigitalInput for the echo channel and a DigitalOutp...
Definition: Ultrasonic.cpp:114
static void SetAutomaticMode(bool enabling)
Turn Automatic mode on/off.
Definition: Ultrasonic.cpp:199
std::string GetSmartDashboardType() const override
Definition: Ultrasonic.cpp:326
bool IsRangeValid() const
Check if there is a valid range measurement.
Definition: Ultrasonic.cpp:253
void SetPIDSourceType(PIDSourceType pidSource) override
Set which parameter you are using as a process control variable.
Definition: Ultrasonic.cpp:293
Base class for all sensors.
Definition: SensorBase.h:20
void StopLiveWindowMode() override
Stop having this sendable object automatically respond to value changes.
Definition: Ultrasonic.cpp:324
double GetRangeMM() const
Get the range in millimeters from the ultrasonic sensor.
Definition: Ultrasonic.cpp:275
double PIDGet() override
Get the range in the current DistanceUnit for the PIDSource base object.
Definition: Ultrasonic.cpp:282
Class for counting the number of ticks on a digital input channel.
Definition: Counter.h:31
PIDSource interface is a generic sensor source for the PID class.
Definition: PIDSource.h:18
Ultrasonic rangefinder class.
Definition: Ultrasonic.h:38
DistanceUnit GetDistanceUnits() const
Get the current DistanceUnit that is used for the PIDSource base object.
Definition: Ultrasonic.cpp:312
void InitTable(std::shared_ptr< ITable > subTable) override
Initializes a table for this sendable object.
Definition: Ultrasonic.cpp:328
void StartLiveWindowMode() override
Start having this sendable object automatically respond to value changes reflect the value on the tab...
Definition: Ultrasonic.cpp:322
void Ping()
Single ping to ultrasonic sensor.
Definition: Ultrasonic.cpp:239
void SetDistanceUnits(DistanceUnit units)
Set the current DistanceUnit that should be used for the PIDSource base object.
Definition: Ultrasonic.cpp:305
Wrapper class around std::thread that allows changing thread priority.
Definition: Task.h:19
double GetRangeInches() const
Get the range in inches from the ultrasonic sensor.
Definition: Ultrasonic.cpp:261