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/Encoder.h b/wpilibc/Athena/include/Encoder.h
new file mode 100644
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+++ b/wpilibc/Athena/include/Encoder.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. All Rights Reserved.
+ */
+/* Open Source Software - may be modified and shared by FRC teams. The code */
+/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+#pragma once
+
+#include "HAL/HAL.hpp"
+#include "CounterBase.h"
+#include "SensorBase.h"
+#include "Counter.h"
+#include "PIDSource.h"
+#include "LiveWindow/LiveWindowSendable.h"
+
+#include <memory>
+
+class DigitalSource;
+class DigitalGlitchFilter;
+
+/**
+ * Class to read quad encoders.
+ * Quadrature encoders are devices that count shaft rotation and can sense
+ * direction. The output of
+ * the QuadEncoder class is an integer that can count either up or down, and can
+ * go negative for
+ * reverse direction counting. When creating QuadEncoders, a direction is
+ * supplied that changes the
+ * sense of the output to make code more readable if the encoder is mounted such
+ * that forward movement
+ * generates negative values. Quadrature encoders have two digital outputs, an A
+ * Channel and a B Channel
+ * that are out of phase with each other to allow the FPGA to do direction
+ * sensing.
+ *
+ * All encoders will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
+ */
+class Encoder : public SensorBase,
+ public CounterBase,
+ public PIDSource,
+ public LiveWindowSendable {
+ public:
+ enum IndexingType {
+ kResetWhileHigh,
+ kResetWhileLow,
+ kResetOnFallingEdge,
+ kResetOnRisingEdge
+ };
+
+ Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection = false,
+ EncodingType encodingType = k4X);
+ Encoder(std::shared_ptr<DigitalSource> aSource,
+ std::shared_ptr<DigitalSource> bSource,
+ bool reverseDirection = false, EncodingType encodingType = k4X);
+ Encoder(DigitalSource *aSource, DigitalSource *bSource,
+ bool reverseDirection = false, EncodingType encodingType = k4X);
+ Encoder(DigitalSource &aSource, DigitalSource &bSource,
+ bool reverseDirection = false, EncodingType encodingType = k4X);
+ virtual ~Encoder();
+
+ // CounterBase interface
+ int32_t Get() const override;
+ int32_t GetRaw() const;
+ int32_t GetEncodingScale() const;
+ void Reset() override;
+ double GetPeriod() const override;
+ void SetMaxPeriod(double maxPeriod) override;
+ bool GetStopped() const override;
+ bool GetDirection() const override;
+
+ double GetDistance() const;
+ double GetRate() const;
+ void SetMinRate(double minRate);
+ void SetDistancePerPulse(double distancePerPulse);
+ void SetReverseDirection(bool reverseDirection);
+ void SetSamplesToAverage(int samplesToAverage);
+ int GetSamplesToAverage() const;
+ double PIDGet() override;
+
+ void SetIndexSource(uint32_t channel, IndexingType type = kResetOnRisingEdge);
+ DEPRECATED("Use pass-by-reference instead.")
+ void SetIndexSource(DigitalSource *source,
+ IndexingType type = kResetOnRisingEdge);
+ void SetIndexSource(const DigitalSource &source,
+ IndexingType type = kResetOnRisingEdge);
+
+ void UpdateTable() override;
+ void StartLiveWindowMode() override;
+ void StopLiveWindowMode() override;
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subTable) override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ int32_t GetFPGAIndex() const { return m_index; }
+
+ private:
+ void InitEncoder(bool _reverseDirection, EncodingType encodingType);
+ double DecodingScaleFactor() const;
+
+ std::shared_ptr<DigitalSource> m_aSource; // the A phase of the quad encoder
+ std::shared_ptr<DigitalSource> m_bSource; // the B phase of the quad encoder
+ void *m_encoder = nullptr;
+ int32_t m_index = 0; // The encoder's FPGA index.
+ double m_distancePerPulse = 1.0; // distance of travel for each encoder tick
+ std::unique_ptr<Counter> m_counter =
+ nullptr; // Counter object for 1x and 2x encoding
+ EncodingType m_encodingType; // Encoding type
+ int32_t m_encodingScale; // 1x, 2x, or 4x, per the encodingType
+
+ std::shared_ptr<ITable> m_table;
+ friend class DigitalGlitchFilter;
+};