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GearTooth Class Reference

Alias for counter class. More...

#include <GearTooth.h>

Inheritance diagram for GearTooth:
Counter SensorBase CounterBase LiveWindowSendable ErrorBase Sendable

Public Member Functions

 GearTooth (uint32_t channel, bool directionSensitive=false)
 Construct a GearTooth sensor given a channel. More...
 
 GearTooth (DigitalSource *source, bool directionSensitive=false)
 Construct a GearTooth sensor given a digital input. More...
 
 GearTooth (std::shared_ptr< DigitalSource > source, bool directionSensitive=false)
 Construct a GearTooth sensor given a digital input. More...
 
void EnableDirectionSensing (bool directionSensitive)
 Common code called by the constructors.
 
virtual std::string GetSmartDashboardType () const override
 
- Public Member Functions inherited from Counter
 Counter (Mode mode=kTwoPulse)
 Create an instance of a counter where no sources are selected. More...
 
 Counter (int32_t channel)
 Create an instance of a Counter object. More...
 
 Counter (DigitalSource *source)
 Create an instance of a counter from a Digital Source (such as a Digital Input). More...
 
 Counter (std::shared_ptr< DigitalSource > source)
 Create an instance of a counter from a Digital Source (such as a Digital Input). More...
 
 Counter (AnalogTrigger *trigger)
 Create an instance of a Counter object. More...
 
 Counter (const AnalogTrigger &trigger)
 Create an instance of a Counter object. More...
 
 Counter (EncodingType encodingType, DigitalSource *upSource, DigitalSource *downSource, bool inverted)
 Create an instance of a Counter object. More...
 
 Counter (EncodingType encodingType, std::shared_ptr< DigitalSource > upSource, std::shared_ptr< DigitalSource > downSource, bool inverted)
 Create an instance of a Counter object. More...
 
virtual ~Counter ()
 Delete the Counter object.
 
void SetUpSource (int32_t channel)
 Set the upsource for the counter as a digital input channel. More...
 
void SetUpSource (AnalogTrigger *analogTrigger, AnalogTriggerType triggerType)
 Set the up counting source to be an analog trigger. More...
 
void SetUpSource (std::shared_ptr< AnalogTrigger > analogTrigger, AnalogTriggerType triggerType)
 Set the up counting source to be an analog trigger. More...
 
void SetUpSource (DigitalSource *source)
 
void SetUpSource (std::shared_ptr< DigitalSource > source)
 Set the source object that causes the counter to count up. More...
 
void SetUpSource (DigitalSource &source)
 Set the source object that causes the counter to count up. More...
 
void SetUpSourceEdge (bool risingEdge, bool fallingEdge)
 Set the edge sensitivity on an up counting source. More...
 
void ClearUpSource ()
 Disable the up counting source to the counter.
 
void SetDownSource (int32_t channel)
 Set the down counting source to be a digital input channel. More...
 
void SetDownSource (AnalogTrigger *analogTrigger, AnalogTriggerType triggerType)
 Set the down counting source to be an analog trigger. More...
 
void SetDownSource (std::shared_ptr< AnalogTrigger > analogTrigger, AnalogTriggerType triggerType)
 Set the down counting source to be an analog trigger. More...
 
void SetDownSource (DigitalSource *source)
 
void SetDownSource (std::shared_ptr< DigitalSource > source)
 Set the source object that causes the counter to count down. More...
 
void SetDownSource (DigitalSource &source)
 Set the source object that causes the counter to count down. More...
 
void SetDownSourceEdge (bool risingEdge, bool fallingEdge)
 Set the edge sensitivity on a down counting source. More...
 
void ClearDownSource ()
 Disable the down counting source to the counter.
 
void SetUpDownCounterMode ()
 Set standard up / down counting mode on this counter. More...
 
void SetExternalDirectionMode ()
 Set external direction mode on this counter. More...
 
void SetSemiPeriodMode (bool highSemiPeriod)
 Set Semi-period mode on this counter. More...
 
void SetPulseLengthMode (float threshold)
 Configure the counter to count in up or down based on the length of the input pulse. More...
 
void SetReverseDirection (bool reverseDirection)
 Set the Counter to return reversed sensing on the direction. More...
 
int32_t Get () const override
 Read the current counter value. More...
 
void Reset () override
 Reset the Counter to zero. More...
 
double GetPeriod () const override
 Get the Period of the most recent count. More...
 
void SetMaxPeriod (double maxPeriod) override
 Set the maximum period where the device is still considered "moving". More...
 
void SetUpdateWhenEmpty (bool enabled)
 Select whether you want to continue updating the event timer output when there are no samples captured. More...
 
bool GetStopped () const override
 Determine if the clock is stopped. More...
 
bool GetDirection () const override
 The last direction the counter value changed. More...
 
void SetSamplesToAverage (int samplesToAverage)
 Set the Samples to Average which specifies the number of samples of the timer to average when calculating the period. More...
 
int GetSamplesToAverage () const
 Get the Samples to Average which specifies the number of samples of the timer to average when calculating the period. More...
 
uint32_t GetFPGAIndex () const
 
void UpdateTable () override
 Update the table for this sendable object with the latest values.
 
void StartLiveWindowMode () override
 Start having this sendable object automatically respond to value changes reflect the value on the table.
 
void StopLiveWindowMode () override
 Stop having this sendable object automatically respond to value changes.
 
void InitTable (std::shared_ptr< ITable > subTable) override
 Initializes a table for this sendable object. More...
 
std::shared_ptr< ITableGetTable () const override
 
- Public Member Functions inherited from SensorBase
 SensorBase ()
 Creates an instance of the sensor base and gets an FPGA handle.
 
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 

Static Public Attributes

static constexpr double kGearToothThreshold = 55e-6
 55 uSec for threshold
 
- Static Public Attributes inherited from SensorBase
static const uint32_t kDigitalChannels = 26
 
static const uint32_t kAnalogInputs = 8
 
static const uint32_t kAnalogOutputs = 2
 
static const uint32_t kSolenoidChannels = 8
 
static const uint32_t kSolenoidModules = 2
 
static const uint32_t kPwmChannels = 20
 
static const uint32_t kRelayChannels = 8
 
static const uint32_t kPDPChannels = 16
 
static const uint32_t kChassisSlots = 8
 

Additional Inherited Members

- Public Types inherited from CounterBase
enum  EncodingType { k1X, k2X, k4X }
 
- Static Public Member Functions inherited from SensorBase
static void DeleteSingletons ()
 Delete all the singleton classes on the list. More...
 
static uint32_t GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (uint8_t moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckPWMChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInput (uint32_t channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutput (uint32_t channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (uint32_t channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (uint32_t channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Member Functions inherited from SensorBase
void AddToSingletonList ()
 Add sensor to the singleton list. More...
 
- Protected Attributes inherited from Counter
std::shared_ptr< DigitalSourcem_upSource
 
std::shared_ptr< DigitalSourcem_downSource
 
void * m_counter = nullptr
 The FPGA counter object.
 
- Protected Attributes inherited from ErrorBase
Error m_error
 
- Static Protected Attributes inherited from SensorBase
static void * m_digital_ports [kDigitalChannels]
 
static void * m_relay_ports [kRelayChannels]
 
static void * m_pwm_ports [kPwmChannels]
 
- Static Protected Attributes inherited from ErrorBase
static priority_mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

Alias for counter class.

Implement the gear tooth sensor supplied by FIRST. Currently there is no reverse sensing on the gear tooth sensor, but in future versions we might implement the necessary timing in the FPGA to sense direction.

Constructor & Destructor Documentation

GearTooth::GearTooth ( uint32_t  channel,
bool  directionSensitive = false 
)

Construct a GearTooth sensor given a channel.

Parameters
channelThe DIO channel that the sensor is connected to. 0-9 are on-board, 10-25 are on the MXP.
directionSensitiveTrue to enable the pulse length decoding in hardware to specify count direction.
GearTooth::GearTooth ( DigitalSource source,
bool  directionSensitive = false 
)

Construct a GearTooth sensor given a digital input.

This should be used when sharing digital inputs.

Parameters
sourceA pointer to the existing DigitalSource object (such as a DigitalInput)
directionSensitiveTrue to enable the pulse length decoding in hardware to specify count direction.
GearTooth::GearTooth ( std::shared_ptr< DigitalSource source,
bool  directionSensitive = false 
)

Construct a GearTooth sensor given a digital input.

This should be used when sharing digital inputs.

Parameters
sourceA reference to the existing DigitalSource object (such as a DigitalInput)
directionSensitiveTrue to enable the pulse length decoding in hardware to specify count direction.

Member Function Documentation

std::string GearTooth::GetSmartDashboardType ( ) const
overridevirtual
Returns
the string representation of the named data type that will be used by the smart dashboard for this sendable

Reimplemented from Counter.


The documentation for this class was generated from the following files: