| 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 SENSORBASE_H_
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| 8 | #define SENSORBASE_H_
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| 9 |
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| 10 | #include "ChipObject/NiRio.h"
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| 11 | #include "ErrorBase.h"
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| 12 | #include <stdio.h>
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| 13 | #include "Base.h"
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| 14 |
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| 15 | /**
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| 16 | * Base class for all sensors.
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| 17 | * Stores most recent status information as well as containing utility functions for checking
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| 18 | * channels and error processing.
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| 19 | */
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| 20 | class SensorBase: public ErrorBase {
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| 21 | public:
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| 22 | SensorBase();
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| 23 | virtual ~SensorBase();
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| 24 | static void DeleteSingletons();
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| 25 | static UINT32 GetDefaultAnalogModule() { return 1; }
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| 26 | static UINT32 GetDefaultDigitalModule() { return 1; }
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| 27 | static UINT32 GetDefaultSolenoidModule() { return 1; }
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| 28 | static bool CheckAnalogModule(UINT8 moduleNumber);
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| 29 | static bool CheckDigitalModule(UINT8 moduleNumber);
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| 30 | static bool CheckPWMModule(UINT8 moduleNumber);
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| 31 | static bool CheckRelayModule(UINT8 moduleNumber);
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| 32 | static bool CheckSolenoidModule(UINT8 moduleNumber);
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| 33 | static bool CheckDigitalChannel(UINT32 channel);
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| 34 | static bool CheckRelayChannel(UINT32 channel);
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| 35 | static bool CheckPWMChannel(UINT32 channel);
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| 36 | static bool CheckAnalogChannel(UINT32 channel);
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| 37 | static bool CheckSolenoidChannel(UINT32 channel);
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| 38 |
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| 39 | static const UINT32 kSystemClockTicksPerMicrosecond = 40;
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| 40 | static const UINT32 kDigitalChannels = 14;
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| 41 | static const UINT32 kAnalogChannels = 8;
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| 42 | static const UINT32 kAnalogModules = 2;
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| 43 | static const UINT32 kDigitalModules = 2;
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| 44 | static const UINT32 kSolenoidChannels = 8;
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| 45 | static const UINT32 kSolenoidModules = 2;
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| 46 | static const UINT32 kPwmChannels = 10;
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| 47 | static const UINT32 kRelayChannels = 8;
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| 48 | static const UINT32 kChassisSlots = 8;
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| 49 | protected:
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| 50 | void AddToSingletonList();
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| 51 |
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| 52 | private:
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| 53 | DISALLOW_COPY_AND_ASSIGN(SensorBase);
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| 54 | static SensorBase *m_singletonList;
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| 55 | SensorBase *m_nextSingleton;
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| 56 | };
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| 57 |
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| 58 |
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| 59 | #endif
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