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/src/AnalogPotentiometer.cpp b/wpilibc/Athena/src/AnalogPotentiometer.cpp
new file mode 100644
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+++ b/wpilibc/Athena/src/AnalogPotentiometer.cpp
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+#include "AnalogPotentiometer.h"
+#include "ControllerPower.h"
+
+/**
+ * Construct an Analog Potentiometer object from a channel number.
+ * @param channel The channel number on the roboRIO to represent. 0-3 are
+ * on-board 4-7 are on the MXP port.
+ * @param fullRange The angular value (in desired units) representing the full
+ * 0-5V range of the input.
+ * @param offset The angular value (in desired units) representing the angular
+ * output at 0V.
+ */
+AnalogPotentiometer::AnalogPotentiometer(int channel, double fullRange,
+ double offset)
+ : m_analog_input(std::make_unique<AnalogInput>(channel)),
+ m_fullRange(fullRange),
+ m_offset(offset) {}
+
+/**
+ * Construct an Analog Potentiometer object from an existing Analog Input
+ * pointer.
+ * @param channel The existing Analog Input pointer
+ * @param fullRange The angular value (in desired units) representing the full
+ * 0-5V range of the input.
+ * @param offset The angular value (in desired units) representing the angular
+ * output at 0V.
+ */
+AnalogPotentiometer::AnalogPotentiometer(AnalogInput *input, double fullRange,
+ double offset)
+ : m_analog_input(input, NullDeleter<AnalogInput>()),
+ m_fullRange(fullRange),
+ m_offset(offset) {}
+
+/**
+ * Construct an Analog Potentiometer object from an existing Analog Input
+ * pointer.
+ * @param channel The existing Analog Input pointer
+ * @param fullRange The angular value (in desired units) representing the full
+ * 0-5V range of the input.
+ * @param offset The angular value (in desired units) representing the angular
+ * output at 0V.
+ */
+AnalogPotentiometer::AnalogPotentiometer(std::shared_ptr<AnalogInput> input,
+ double fullRange, double offset)
+ : m_analog_input(input), m_fullRange(fullRange), m_offset(offset) {}
+
+/**
+ * Get the current reading of the potentiometer.
+ *
+ * @return The current position of the potentiometer (in the units used for
+ * fullRaneg and offset).
+ */
+double AnalogPotentiometer::Get() const {
+ return (m_analog_input->GetVoltage() / ControllerPower::GetVoltage5V()) *
+ m_fullRange +
+ m_offset;
+}
+
+/**
+ * Implement the PIDSource interface.
+ *
+ * @return The current reading.
+ */
+double AnalogPotentiometer::PIDGet() { return Get(); }
+
+/**
+ * @return the Smart Dashboard Type
+ */
+std::string AnalogPotentiometer::GetSmartDashboardType() const {
+ return "Analog Input";
+}
+
+/**
+ * Live Window code, only does anything if live window is activated.
+ */
+void AnalogPotentiometer::InitTable(std::shared_ptr<ITable> subtable) {
+ m_table = subtable;
+ UpdateTable();
+}
+
+void AnalogPotentiometer::UpdateTable() {
+ if (m_table != nullptr) {
+ m_table->PutNumber("Value", Get());
+ }
+}
+
+std::shared_ptr<ITable> AnalogPotentiometer::GetTable() const { return m_table; }