Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/sim/include/AnalogPotentiometer.h b/wpilibc/sim/include/AnalogPotentiometer.h
new file mode 100644
index 0000000..1cf58be
--- /dev/null
+++ b/wpilibc/sim/include/AnalogPotentiometer.h
@@ -0,0 +1,99 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2016-2017. 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 "AnalogInput.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "interfaces/Potentiometer.h"
+
+namespace frc {
+
+/**
+ * Class for reading analog potentiometers. Analog potentiometers read
+ * in an analog voltage that corresponds to a position. Usually the
+ * position is either degrees or meters. However, if no conversion is
+ * given it remains volts.
+ */
+class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
+ public:
+ /**
+ * AnalogPotentiometer constructor.
+ *
+ * Use the scaling and offset values so that the output produces meaningful
+ * values. I.E: you have a 270 degree potentiometer and you want the output
+ * to be degrees with the halfway point as 0 degrees. The scale value is
+ * 270.0(degrees)/5.0(volts) and the offset is -135.0 since the halfway point
+ * after scaling is 135 degrees.
+ *
+ * @param channel The analog channel this potentiometer is plugged into.
+ * @param scale The scaling to multiply the voltage by to get a meaningful
+ * unit.
+ * @param offset The offset to add to the scaled value for controlling the
+ * zero value
+ */
+ explicit AnalogPotentiometer(int channel, double scale = 1.0,
+ double offset = 0.0);
+
+ AnalogPotentiometer(AnalogInput* input, double scale = 1.0,
+ double offset = 0.0);
+
+ AnalogPotentiometer(AnalogInput& input, double scale = 1.0,
+ double offset = 0.0);
+
+ virtual ~AnalogPotentiometer();
+
+ /**
+ * Get the current reading of the potentiomere.
+ *
+ * @return The current position of the potentiometer.
+ */
+ virtual double Get() const;
+
+ /**
+ * Implement the PIDSource interface.
+ *
+ * @return The current reading.
+ */
+ double PIDGet() override;
+
+ /*
+ * Live Window code, only does anything if live window is activated.
+ */
+ std::string GetSmartDashboardType() const override;
+ void InitTable(std::shared_ptr<ITable> subtable) override;
+ void UpdateTable() override;
+ std::shared_ptr<ITable> GetTable() const override;
+
+ /**
+ * AnalogPotentiometers don't have to do anything special when entering the
+ * LiveWindow.
+ */
+ void StartLiveWindowMode() override {}
+
+ /**
+ * AnalogPotentiometers don't have to do anything special when exiting the
+ * LiveWindow.
+ */
+ void StopLiveWindowMode() override {}
+
+ private:
+ double m_scale, m_offset;
+ AnalogInput* m_analog_input;
+ std::shared_ptr<ITable> m_table;
+ bool m_init_analog_input;
+
+ /**
+ * Common initialization code called by all constructors.
+ */
+ void initPot(AnalogInput* input, double scale, double offset);
+};
+
+} // namespace frc