| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef ANALOG_CHANNEL_H_
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| 8 | #define ANALOG_CHANNEL_H_
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| 9 |
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| 10 | #include "ChipObject.h"
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| 11 | #include "SensorBase.h"
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| 12 | #include "PIDSource.h"
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| 13 | #include "LiveWindow/LiveWindowSendable.h"
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| 14 |
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| 15 | class AnalogModule;
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| 16 |
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| 17 | /**
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| 18 | * Analog channel class.
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| 19 | *
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| 20 | * Each analog channel is read from hardware as a 12-bit number representing -10V to 10V.
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| 21 | *
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| 22 | * Connected to each analog channel is an averaging and oversampling engine. This engine accumulates
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| 23 | * the specified ( by SetAverageBits() and SetOversampleBits() ) number of samples before returning a new
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| 24 | * value. This is not a sliding window average. The only difference between the oversampled samples and
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| 25 | * the averaged samples is that the oversampled samples are simply accumulated effectively increasing the
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| 26 | * resolution, while the averaged samples are divided by the number of samples to retain the resolution,
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| 27 | * but get more stable values.
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| 28 | */
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| 29 | class AnalogChannel : public SensorBase, public PIDSource, public LiveWindowSendable
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| 30 | {
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| 31 | public:
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| 32 | static const UINT8 kAccumulatorModuleNumber = 1;
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| 33 | static const UINT32 kAccumulatorNumChannels = 2;
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| 34 | static const UINT32 kAccumulatorChannels[kAccumulatorNumChannels];
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| 35 |
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| 36 | AnalogChannel(UINT8 moduleNumber, UINT32 channel);
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| 37 | explicit AnalogChannel(UINT32 channel);
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| 38 | virtual ~AnalogChannel();
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| 39 |
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| 40 | AnalogModule *GetModule();
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| 41 |
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| 42 | INT16 GetValue();
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| 43 | INT32 GetAverageValue();
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| 44 |
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| 45 | float GetVoltage();
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| 46 | float GetAverageVoltage();
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| 47 |
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| 48 | UINT8 GetModuleNumber();
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| 49 | UINT32 GetChannel();
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| 50 |
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| 51 | void SetAverageBits(UINT32 bits);
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| 52 | UINT32 GetAverageBits();
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| 53 | void SetOversampleBits(UINT32 bits);
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| 54 | UINT32 GetOversampleBits();
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| 55 |
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| 56 | UINT32 GetLSBWeight();
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| 57 | INT32 GetOffset();
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| 58 |
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| 59 | bool IsAccumulatorChannel();
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| 60 | void InitAccumulator();
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| 61 | void SetAccumulatorInitialValue(INT64 value);
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| 62 | void ResetAccumulator();
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| 63 | void SetAccumulatorCenter(INT32 center);
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| 64 | void SetAccumulatorDeadband(INT32 deadband);
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| 65 | INT64 GetAccumulatorValue();
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| 66 | UINT32 GetAccumulatorCount();
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| 67 | void GetAccumulatorOutput(INT64 *value, UINT32 *count);
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| 68 |
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| 69 | double PIDGet();
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| 70 |
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| 71 | void UpdateTable();
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| 72 | void StartLiveWindowMode();
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| 73 | void StopLiveWindowMode();
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| 74 | std::string GetSmartDashboardType();
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| 75 | void InitTable(ITable *subTable);
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| 76 | ITable * GetTable();
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| 77 |
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| 78 | private:
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| 79 | void InitChannel(UINT8 moduleNumber, UINT32 channel);
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| 80 | UINT32 m_channel;
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| 81 | AnalogModule *m_module;
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| 82 | tAccumulator *m_accumulator;
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| 83 | INT64 m_accumulatorOffset;
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| 84 |
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| 85 | ITable *m_table;
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| 86 | };
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| 87 |
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| 88 | #endif
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