WPILibC++  2019.3.1
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Modules Pages
frc::AnalogTriggerOutput Class Reference

Class to represent a specific output from an analog trigger. More...

#include <AnalogTriggerOutput.h>

Inheritance diagram for frc::AnalogTriggerOutput:
frc::DigitalSource frc::InterruptableSensorBase frc::ErrorBase frc::SendableBase frc::Sendable

Public Member Functions

 AnalogTriggerOutput (AnalogTriggerOutput &&)=default
 
AnalogTriggerOutputoperator= (AnalogTriggerOutput &&)=default
 
bool Get () const
 Get the state of the analog trigger output. More...
 
HAL_Handle GetPortHandleForRouting () const override
 
AnalogTriggerType GetAnalogTriggerTypeForRouting () const override
 
bool IsAnalogTrigger () const override
 Is source an AnalogTrigger.
 
int GetChannel () const override
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc::DigitalSource
 DigitalSource (DigitalSource &&)=default
 
DigitalSourceoperator= (DigitalSource &&)=default
 
- Public Member Functions inherited from frc::InterruptableSensorBase
 InterruptableSensorBase (InterruptableSensorBase &&)=default
 
InterruptableSensorBaseoperator= (InterruptableSensorBase &&)=default
 
virtual void RequestInterrupts (HAL_InterruptHandlerFunction handler, void *param)
 Request one of the 8 interrupts asynchronously on this digital input. More...
 
virtual void RequestInterrupts ()
 Request one of the 8 interrupts synchronously on this digital input. More...
 
virtual void CancelInterrupts ()
 Cancel interrupts on this device. More...
 
virtual WaitResult WaitForInterrupt (double timeout, bool ignorePrevious=true)
 In synchronous mode, wait for the defined interrupt to occur. More...
 
virtual void EnableInterrupts ()
 Enable interrupts to occur on this input. More...
 
virtual void DisableInterrupts ()
 Disable Interrupts without without deallocating structures.
 
virtual double ReadRisingTimestamp ()
 Return the timestamp for the rising interrupt that occurred most recently. More...
 
virtual double ReadFallingTimestamp ()
 Return the timestamp for the falling interrupt that occurred most recently. More...
 
virtual void SetUpSourceEdge (bool risingEdge, bool fallingEdge)
 Set which edge to trigger interrupts on. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 Retrieve the current error. More...
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int 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, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
- Public Member Functions inherited from frc::SendableBase
 SendableBase (bool addLiveWindow=true)
 Creates an instance of the sensor base. More...
 
 SendableBase (SendableBase &&rhs)
 
SendableBaseoperator= (SendableBase &&rhs)
 
std::string GetName () const final
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name) final
 Sets the name of this Sendable object. More...
 
std::string GetSubsystem () const final
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem) final
 Sets the subsystem name of this Sendable object. More...
 
- Public Member Functions inherited from frc::Sendable
 Sendable (Sendable &&)=default
 
Sendableoperator= (Sendable &&)=default
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 

Protected Member Functions

 AnalogTriggerOutput (const AnalogTrigger &trigger, AnalogTriggerType outputType)
 Create an object that represents one of the four outputs from an analog trigger. More...
 
- Protected Member Functions inherited from frc::InterruptableSensorBase
void AllocateInterrupts (bool watcher)
 
- Protected Member Functions inherited from frc::SendableBase
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
void SetName (const wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 

Friends

class AnalogTrigger
 

Additional Inherited Members

- Public Types inherited from frc::InterruptableSensorBase
enum  WaitResult { kTimeout = 0x0, kRisingEdge = 0x1, kFallingEdge = 0x100, kBoth = 0x101 }
 
- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static const ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Attributes inherited from frc::InterruptableSensorBase
HAL_InterruptHandle m_interrupt = HAL_kInvalidHandle
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Detailed Description

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.

Constructor & Destructor Documentation

frc::AnalogTriggerOutput::AnalogTriggerOutput ( const AnalogTrigger trigger,
AnalogTriggerType  outputType 
)
protected

Create an object that represents one of the four outputs from an analog trigger.

Because this class derives from DigitalSource, it can be passed into routing functions for Counter, Encoder, etc.

Parameters
triggerA pointer to the trigger for which this is an output.
outputTypeAn enum that specifies the output on the trigger to represent.

Member Function Documentation

bool frc::AnalogTriggerOutput::Get ( ) const

Get the state of the analog trigger output.

Returns
The state of the analog trigger output.
AnalogTriggerType frc::AnalogTriggerOutput::GetAnalogTriggerTypeForRouting ( ) const
overridevirtual
Returns
The type of analog trigger output to be used.

Implements frc::DigitalSource.

int frc::AnalogTriggerOutput::GetChannel ( ) const
overridevirtual
Returns
The channel of the source.

Implements frc::DigitalSource.

HAL_Handle frc::AnalogTriggerOutput::GetPortHandleForRouting ( ) const
overridevirtual
Returns
The HAL Handle to the specified source.

Implements frc::DigitalSource.

void frc::AnalogTriggerOutput::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.


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