Added ahal
This is a formatted copy of WPILib's default user-visible C++ API, with
a bit of completely unnecessary functionality stripped out. Most of the
stripping so far is only related to weird threading decisions.
Change-Id: Icbfd949b48cd115561862cb909bcc572aba0e753
diff --git a/frc971/wpilib/ahal/Counter.h b/frc971/wpilib/ahal/Counter.h
new file mode 100644
index 0000000..c32dd33
--- /dev/null
+++ b/frc971/wpilib/ahal/Counter.h
@@ -0,0 +1,106 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 <memory>
+#include <string>
+
+#include "HAL/Counter.h"
+#include "HAL/Types.h"
+#include "frc971/wpilib/ahal/AnalogTrigger.h"
+#include "frc971/wpilib/ahal/CounterBase.h"
+#include "frc971/wpilib/ahal/SensorBase.h"
+
+namespace frc {
+
+class DigitalGlitchFilter;
+
+/**
+ * Class for counting the number of ticks on a digital input channel.
+ * This is a general purpose class for counting repetitive events. It can return
+ * the number of counts, the period of the most recent cycle, and detect when
+ * the signal being counted has stopped by supplying a maximum cycle time.
+ *
+ * All counters will immediately start counting - Reset() them if you need them
+ * to be zeroed before use.
+ */
+class Counter : public CounterBase {
+ public:
+ enum Mode {
+ kTwoPulse = 0,
+ kSemiperiod = 1,
+ kPulseLength = 2,
+ kExternalDirection = 3
+ };
+ explicit Counter(Mode mode = kTwoPulse);
+ explicit Counter(int channel);
+ explicit Counter(DigitalSource *source);
+ explicit Counter(std::shared_ptr<DigitalSource> source);
+ explicit Counter(const AnalogTrigger &trigger);
+ Counter(EncodingType encodingType, DigitalSource *upSource,
+ DigitalSource *downSource, bool inverted);
+ Counter(EncodingType encodingType, std::shared_ptr<DigitalSource> upSource,
+ std::shared_ptr<DigitalSource> downSource, bool inverted);
+ virtual ~Counter();
+
+ void SetUpSource(int channel);
+ void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerType triggerType);
+ void SetUpSource(std::shared_ptr<AnalogTrigger> analogTrigger,
+ AnalogTriggerType triggerType);
+ void SetUpSource(DigitalSource *source);
+ void SetUpSource(std::shared_ptr<DigitalSource> source);
+ void SetUpSource(DigitalSource &source);
+ void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
+ void ClearUpSource();
+
+ void SetDownSource(int channel);
+ void SetDownSource(AnalogTrigger *analogTrigger,
+ AnalogTriggerType triggerType);
+ void SetDownSource(std::shared_ptr<AnalogTrigger> analogTrigger,
+ AnalogTriggerType triggerType);
+ void SetDownSource(DigitalSource *source);
+ void SetDownSource(std::shared_ptr<DigitalSource> source);
+ void SetDownSource(DigitalSource &source);
+ void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
+ void ClearDownSource();
+
+ void SetUpDownCounterMode();
+ void SetExternalDirectionMode();
+ void SetSemiPeriodMode(bool highSemiPeriod);
+ void SetPulseLengthMode(double threshold);
+
+ void SetReverseDirection(bool reverseDirection);
+
+ // CounterBase interface
+ int Get() const override;
+ void Reset() override;
+ double GetPeriod() const override;
+ void SetMaxPeriod(double maxPeriod) override;
+ void SetUpdateWhenEmpty(bool enabled);
+ bool GetStopped() const override;
+ bool GetDirection() const override;
+
+ void SetSamplesToAverage(int samplesToAverage);
+ int GetSamplesToAverage() const;
+ int GetFPGAIndex() const { return m_index; }
+
+ protected:
+ // Makes the counter count up.
+ std::shared_ptr<DigitalSource> m_upSource;
+ // Makes the counter count down.
+ std::shared_ptr<DigitalSource> m_downSource;
+ // The FPGA counter object
+ HAL_CounterHandle m_counter = HAL_kInvalidHandle;
+
+ private:
+ int m_index = 0; ///< The index of this counter.
+
+ friend class DigitalGlitchFilter;
+};
+
+} // namespace frc