wpilibc/Athena/src/GearTooth.cpp

/*----------------------------------------------------------------------------*/
/* 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.  */
/*----------------------------------------------------------------------------*/

#include "GearTooth.h"
#include "LiveWindow/LiveWindow.h"

constexpr double GearTooth::kGearToothThreshold;

/**
 * Common code called by the constructors.
 */
void GearTooth::EnableDirectionSensing(bool directionSensitive) {
  if (directionSensitive) {
    SetPulseLengthMode(kGearToothThreshold);
  }
}

/**
 * Construct a GearTooth sensor given a channel.
 *
 * @param channel The DIO channel that the sensor is connected to. 0-9 are
 * on-board, 10-25 are on the MXP.
 * @param directionSensitive True to enable the pulse length decoding in
 * hardware to specify count direction.
 */
GearTooth::GearTooth(uint32_t channel, bool directionSensitive)
    : Counter(channel) {
  EnableDirectionSensing(directionSensitive);
  LiveWindow::GetInstance()->AddSensor("GearTooth", channel, this);
}

/**
 * Construct a GearTooth sensor given a digital input.
 * This should be used when sharing digital inputs.
 *
 * @param source A pointer to the existing DigitalSource object (such as a
 * DigitalInput)
 * @param directionSensitive True to enable the pulse length decoding in
 * hardware to specify count direction.
 */
GearTooth::GearTooth(DigitalSource *source, bool directionSensitive)
    : Counter(source) {
  EnableDirectionSensing(directionSensitive);
}

/**
 * Construct a GearTooth sensor given a digital input.
 * This should be used when sharing digital inputs.
 *
 * @param source A reference to the existing DigitalSource object (such as a
 * DigitalInput)
 * @param directionSensitive True to enable the pulse length decoding in
 * hardware to specify count direction.
 */
GearTooth::GearTooth(std::shared_ptr<DigitalSource> source, bool directionSensitive)
    : Counter(source) {
  EnableDirectionSensing(directionSensitive);
}

std::string GearTooth::GetSmartDashboardType() const { return "GearTooth"; }