| 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 ULTRASONIC_H_
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| 8 | #define ULTRASONIC_H_
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| 9 |
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| 10 | #include "SensorBase.h"
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| 11 | #include "Task.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 Counter;
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| 16 | class DigitalInput;
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| 17 | class DigitalOutput;
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| 18 |
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| 19 | /**
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| 20 | * Ultrasonic rangefinder class.
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| 21 | * The Ultrasonic rangefinder measures absolute distance based on the round-trip time
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| 22 | * of a ping generated by the controller. These sensors use two transducers, a speaker and
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| 23 | * a microphone both tuned to the ultrasonic range. A common ultrasonic sensor, the Daventech SRF04
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| 24 | * requires a short pulse to be generated on a digital channel. This causes the chirp to be
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| 25 | * emmitted. A second line becomes high as the ping is transmitted and goes low when
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| 26 | * the echo is received. The time that the line is high determines the round trip distance
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| 27 | * (time of flight).
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| 28 | */
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| 29 | class Ultrasonic: public SensorBase, public PIDSource, public LiveWindowSendable
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| 30 | {
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| 31 | public:
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| 32 | typedef enum {
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| 33 | kInches = 0,
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| 34 | kMilliMeters = 1
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| 35 | } DistanceUnit;
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| 36 |
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| 37 | Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel, DistanceUnit units = kInches);
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| 38 | Ultrasonic(DigitalOutput &pingChannel, DigitalInput &echoChannel, DistanceUnit units = kInches);
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| 39 | Ultrasonic(UINT32 pingChannel, UINT32 echoChannel, DistanceUnit units = kInches);
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| 40 | Ultrasonic(UINT8 pingModuleNumber, UINT32 pingChannel,
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| 41 | UINT8 echoModuleNumber, UINT32 echoChannel, DistanceUnit units = kInches);
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| 42 | virtual ~Ultrasonic();
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| 43 |
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| 44 | void Ping();
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| 45 | bool IsRangeValid();
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| 46 | static void SetAutomaticMode(bool enabling);
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| 47 | double GetRangeInches();
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| 48 | double GetRangeMM();
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| 49 | bool IsEnabled() { return m_enabled; }
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| 50 | void SetEnabled(bool enable) { m_enabled = enable; }
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| 51 |
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| 52 | double PIDGet();
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| 53 | void SetDistanceUnits(DistanceUnit units);
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| 54 | DistanceUnit GetDistanceUnits();
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| 55 |
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| 56 | void UpdateTable();
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| 57 | void StartLiveWindowMode();
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| 58 | void StopLiveWindowMode();
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| 59 | std::string GetSmartDashboardType();
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| 60 | void InitTable(ITable *subTable);
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| 61 | ITable * GetTable();
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| 62 |
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| 63 | private:
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| 64 | void Initialize();
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| 65 |
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| 66 | static void UltrasonicChecker();
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| 67 |
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| 68 | static const double kPingTime = 10 * 1e-6; ///< Time (sec) for the ping trigger pulse.
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| 69 | static const UINT32 kPriority = 90; ///< Priority that the ultrasonic round robin task runs.
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| 70 | static const double kMaxUltrasonicTime = 0.1; ///< Max time (ms) between readings.
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| 71 | static const double kSpeedOfSoundInchesPerSec = 1130.0 * 12.0;
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| 72 |
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| 73 | static Task m_task; // task doing the round-robin automatic sensing
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| 74 | static Ultrasonic *m_firstSensor; // head of the ultrasonic sensor list
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| 75 | static bool m_automaticEnabled; // automatic round robin mode
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| 76 | static SEM_ID m_semaphore; // synchronize access to the list of sensors
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| 77 |
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| 78 | DigitalInput *m_echoChannel;
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| 79 | DigitalOutput *m_pingChannel;
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| 80 | bool m_allocatedChannels;
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| 81 | bool m_enabled;
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| 82 | Counter *m_counter;
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| 83 | Ultrasonic *m_nextSensor;
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| 84 | DistanceUnit m_units;
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| 85 |
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| 86 | ITable *m_table;
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| 87 | };
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| 88 |
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| 89 | #endif
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| 90 |
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