Squashed 'third_party/allwpilib_2019/' content from commit bd05dfa1c
Change-Id: I2b1c2250cdb9b055133780c33593292098c375b7
git-subtree-dir: third_party/allwpilib_2019
git-subtree-split: bd05dfa1c7cca74c4fac451e7b9d6a37e7b53447
diff --git a/hal/src/main/native/athena/EncoderInternal.h b/hal/src/main/native/athena/EncoderInternal.h
new file mode 100644
index 0000000..1e7ed4d
--- /dev/null
+++ b/hal/src/main/native/athena/EncoderInternal.h
@@ -0,0 +1,78 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2016-2018 FIRST. 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 the root directory of */
+/* the project. */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <stdint.h>
+
+#include "hal/Encoder.h"
+
+namespace hal {
+
+class Encoder {
+ public:
+ Encoder(HAL_Handle digitalSourceHandleA,
+ HAL_AnalogTriggerType analogTriggerTypeA,
+ HAL_Handle digitalSourceHandleB,
+ HAL_AnalogTriggerType analogTriggerTypeB, bool reverseDirection,
+ HAL_EncoderEncodingType encodingType, int32_t* status);
+ ~Encoder();
+
+ // CounterBase interface
+ int32_t Get(int32_t* status) const;
+ int32_t GetRaw(int32_t* status) const;
+ int32_t GetEncodingScale(int32_t* status) const;
+ void Reset(int32_t* status);
+ double GetPeriod(int32_t* status) const;
+ void SetMaxPeriod(double maxPeriod, int32_t* status);
+ bool GetStopped(int32_t* status) const;
+ bool GetDirection(int32_t* status) const;
+
+ double GetDistance(int32_t* status) const;
+ double GetRate(int32_t* status) const;
+ void SetMinRate(double minRate, int32_t* status);
+ void SetDistancePerPulse(double distancePerPulse, int32_t* status);
+ void SetReverseDirection(bool reverseDirection, int32_t* status);
+ void SetSamplesToAverage(int32_t samplesToAverage, int32_t* status);
+ int32_t GetSamplesToAverage(int32_t* status) const;
+
+ void SetIndexSource(HAL_Handle digitalSourceHandle,
+ HAL_AnalogTriggerType analogTriggerType,
+ HAL_EncoderIndexingType type, int32_t* status);
+
+ int32_t GetFPGAIndex() const { return m_index; }
+
+ int32_t GetEncodingScale() const { return m_encodingScale; }
+
+ double DecodingScaleFactor() const;
+
+ double GetDistancePerPulse() const { return m_distancePerPulse; }
+
+ HAL_EncoderEncodingType GetEncodingType() const { return m_encodingType; }
+
+ private:
+ void SetupCounter(HAL_Handle digitalSourceHandleA,
+ HAL_AnalogTriggerType analogTriggerTypeA,
+ HAL_Handle digitalSourceHandleB,
+ HAL_AnalogTriggerType analogTriggerTypeB,
+ bool reverseDirection, HAL_EncoderEncodingType encodingType,
+ int32_t* status);
+
+ HAL_FPGAEncoderHandle m_encoder = HAL_kInvalidHandle;
+
+ HAL_CounterHandle m_counter = HAL_kInvalidHandle;
+
+ int32_t m_index = 0;
+
+ double m_distancePerPulse = 1.0;
+
+ HAL_EncoderEncodingType m_encodingType;
+
+ int32_t m_encodingScale;
+};
+
+} // namespace hal