Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/include/AnalogPotentiometer.h b/wpilibc/Athena/include/AnalogPotentiometer.h
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+++ b/wpilibc/Athena/include/AnalogPotentiometer.h
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+#include "AnalogInput.h"
+#include "interfaces/Potentiometer.h"
+#include "LiveWindow/LiveWindowSendable.h"
+
+#include <memory>
+
+/**
+ * Class for reading analog potentiometers. Analog potentiometers read
+ * in an analog voltage that corresponds to a position. The position is
+ * in whichever units you choose, by way of the scaling and offset
+ * constants passed to the constructor.
+ *
+ * @author Alex Henning
+ * @author Colby Skeggs (rail voltage)
+ */
+class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
+ public:
+ /**
+ * AnalogPotentiometer constructor.
+ *
+ * Use the fullRange and offset values so that the output produces
+ * meaningful values. I.E: you have a 270 degree potentiometer and
+ * you want the output to be degrees with the halfway point as 0
+ * degrees. The fullRange value is 270.0(degrees) and the offset is
+ * -135.0 since the halfway point after scaling is 135 degrees.
+ *
+ * This will calculate the result from the fullRange times the
+ * fraction of the supply voltage, plus the offset.
+ *
+ * @param channel The analog channel this potentiometer is plugged into.
+ * @param fullRange The scaling to multiply the voltage by to get a meaningful
+ * unit.
+ * @param offset The offset to add to the scaled value for controlling the
+ * zero value
+ */
+ explicit AnalogPotentiometer(int channel, double fullRange = 1.0,
+ double offset = 0.0);
+
+ explicit AnalogPotentiometer(AnalogInput *input, double fullRange = 1.0,
+ double offset = 0.0);
+
+ explicit AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
+ double fullRange = 1.0, double offset = 0.0);
+
+ virtual ~AnalogPotentiometer() = default;
+
+ /**
+ * Get the current reading of the potentiomer.
+ *
+ * @return The current position of the potentiometer.
+ */
+ virtual double Get() const override;
+
+ /**
+ * Implement the PIDSource interface.
+ *
+ * @return The current reading.
+ */
+ virtual double PIDGet() override;
+
+ /*
+ * Live Window code, only does anything if live window is activated.
+ */
+ virtual std::string GetSmartDashboardType() const override;
+ virtual void InitTable(std::shared_ptr<ITable> subtable) override;
+ virtual void UpdateTable() override;
+ virtual std::shared_ptr<ITable> GetTable() const override;
+
+ /**
+ * AnalogPotentiometers don't have to do anything special when entering the
+ * LiveWindow.
+ */
+ virtual void StartLiveWindowMode() override {}
+
+ /**
+ * AnalogPotentiometers don't have to do anything special when exiting the
+ * LiveWindow.
+ */
+ virtual void StopLiveWindowMode() override {}
+
+ private:
+ std::shared_ptr<AnalogInput> m_analog_input;
+ double m_fullRange, m_offset;
+ std::shared_ptr<ITable> m_table;
+};