Rename our allwpilib (which is now 2020) to not have 2019 in the name
Change-Id: I3c07f85ed32ab8b97db765a9b43f2a6ce7da964a
diff --git a/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
new file mode 100644
index 0000000..ea054ce
--- /dev/null
+++ b/wpilibc/src/main/native/cpp/DutyCycleEncoder.cpp
@@ -0,0 +1,152 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 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. */
+/*----------------------------------------------------------------------------*/
+
+#include "frc/DutyCycleEncoder.h"
+
+#include "frc/Counter.h"
+#include "frc/DigitalInput.h"
+#include "frc/DigitalSource.h"
+#include "frc/DriverStation.h"
+#include "frc/DutyCycle.h"
+#include "frc/smartdashboard/SendableBuilder.h"
+
+using namespace frc;
+
+DutyCycleEncoder::DutyCycleEncoder(int channel)
+ : m_dutyCycle{std::make_shared<DutyCycle>(
+ std::make_shared<DigitalInput>(channel))},
+ m_analogTrigger{m_dutyCycle.get()},
+ m_counter{} {
+ Init();
+}
+
+DutyCycleEncoder::DutyCycleEncoder(DutyCycle& dutyCycle)
+ : m_dutyCycle{&dutyCycle, NullDeleter<DutyCycle>{}},
+ m_analogTrigger{m_dutyCycle.get()},
+ m_counter{} {
+ Init();
+}
+
+DutyCycleEncoder::DutyCycleEncoder(DutyCycle* dutyCycle)
+ : m_dutyCycle{dutyCycle, NullDeleter<DutyCycle>{}},
+ m_analogTrigger{m_dutyCycle.get()},
+ m_counter{} {
+ Init();
+}
+
+DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DutyCycle> dutyCycle)
+ : m_dutyCycle{std::move(dutyCycle)},
+ m_analogTrigger{m_dutyCycle.get()},
+ m_counter{} {
+ Init();
+}
+
+DutyCycleEncoder::DutyCycleEncoder(DigitalSource& digitalSource)
+ : m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)},
+ m_analogTrigger{m_dutyCycle.get()},
+ m_counter{} {
+ Init();
+}
+
+DutyCycleEncoder::DutyCycleEncoder(DigitalSource* digitalSource)
+ : m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)},
+ m_analogTrigger{m_dutyCycle.get()},
+ m_counter{} {
+ Init();
+}
+
+DutyCycleEncoder::DutyCycleEncoder(std::shared_ptr<DigitalSource> digitalSource)
+ : m_dutyCycle{std::make_shared<DutyCycle>(digitalSource)},
+ m_analogTrigger{m_dutyCycle.get()},
+ m_counter{} {
+ Init();
+}
+
+void DutyCycleEncoder::Init() {
+ m_simDevice = hal::SimDevice{"DutyCycleEncoder", m_dutyCycle->GetFPGAIndex()};
+
+ if (m_simDevice) {
+ m_simPosition = m_simDevice.CreateDouble("Position", false, 0.0);
+ m_simIsConnected = m_simDevice.CreateBoolean("Connected", false, true);
+ }
+
+ m_analogTrigger.SetLimitsDutyCycle(0.25, 0.75);
+ m_counter.SetUpSource(
+ m_analogTrigger.CreateOutput(AnalogTriggerType::kRisingPulse));
+ m_counter.SetDownSource(
+ m_analogTrigger.CreateOutput(AnalogTriggerType::kFallingPulse));
+
+ SendableRegistry::GetInstance().AddLW(this, "DutyCycle Encoder",
+ m_dutyCycle->GetSourceChannel());
+}
+
+units::turn_t DutyCycleEncoder::Get() const {
+ if (m_simPosition) return units::turn_t{m_simPosition.Get()};
+
+ // As the values are not atomic, keep trying until we get 2 reads of the same
+ // value If we don't within 10 attempts, error
+ for (int i = 0; i < 10; i++) {
+ auto counter = m_counter.Get();
+ auto pos = m_dutyCycle->GetOutput();
+ auto counter2 = m_counter.Get();
+ auto pos2 = m_dutyCycle->GetOutput();
+ if (counter == counter2 && pos == pos2) {
+ units::turn_t turns{counter + pos - m_positionOffset};
+ m_lastPosition = turns;
+ return turns;
+ }
+ }
+
+ frc::DriverStation::GetInstance().ReportWarning(
+ "Failed to read DutyCycle Encoder. Potential Speed Overrun. Returning "
+ "last value");
+ return m_lastPosition;
+}
+
+void DutyCycleEncoder::SetDistancePerRotation(double distancePerRotation) {
+ m_distancePerRotation = distancePerRotation;
+}
+
+double DutyCycleEncoder::GetDistancePerRotation() const {
+ return m_distancePerRotation;
+}
+
+double DutyCycleEncoder::GetDistance() const {
+ return Get().to<double>() * GetDistancePerRotation();
+}
+
+int DutyCycleEncoder::GetFrequency() const {
+ return m_dutyCycle->GetFrequency();
+}
+
+void DutyCycleEncoder::Reset() {
+ m_counter.Reset();
+ m_positionOffset = m_dutyCycle->GetOutput();
+}
+
+bool DutyCycleEncoder::IsConnected() const {
+ if (m_simIsConnected) return m_simIsConnected.Get();
+ return GetFrequency() > m_frequencyThreshold;
+}
+
+void DutyCycleEncoder::SetConnectedFrequencyThreshold(int frequency) {
+ if (frequency < 0) {
+ frequency = 0;
+ }
+ m_frequencyThreshold = frequency;
+}
+
+void DutyCycleEncoder::InitSendable(SendableBuilder& builder) {
+ builder.SetSmartDashboardType("AbsoluteEncoder");
+ builder.AddDoubleProperty("Distance", [this] { return this->GetDistance(); },
+ nullptr);
+ builder.AddDoubleProperty("Distance Per Rotation",
+ [this] { return this->GetDistancePerRotation(); },
+ nullptr);
+ builder.AddDoubleProperty("Is Connected",
+ [this] { return this->IsConnected(); }, nullptr);
+}