| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/
|
| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
|
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
|
| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
| 5 | /*----------------------------------------------------------------------------*/
|
| 6 |
|
| 7 | #ifndef CPPCOUNTER_H_
|
| 8 | #define CPPCOUNTER_H_
|
| 9 |
|
| 10 | #include "AnalogTriggerOutput.h"
|
| 11 | #include "CounterBase.h"
|
| 12 | #include "SensorBase.h"
|
| 13 | #include "LiveWindow/LiveWindowSendable.h"
|
| 14 |
|
| 15 | /**
|
| 16 | * Class for counting the number of ticks on a digital input channel.
|
| 17 | * This is a general purpose class for counting repetitive events. It can return the number
|
| 18 | * of counts, the period of the most recent cycle, and detect when the signal being counted
|
| 19 | * has stopped by supplying a maximum cycle time.
|
| 20 | */
|
| 21 | class Counter : public SensorBase, public CounterBase, public LiveWindowSendable
|
| 22 | {
|
| 23 | public:
|
| 24 | typedef enum {kTwoPulse=0, kSemiperiod=1, kPulseLength=2, kExternalDirection=3} Mode;
|
| 25 |
|
| 26 | Counter();
|
| 27 | explicit Counter(UINT32 channel);
|
| 28 | Counter(UINT8 moduleNumber, UINT32 channel);
|
| 29 | explicit Counter(DigitalSource *source);
|
| 30 | explicit Counter(DigitalSource &source);
|
| 31 | explicit Counter(AnalogTrigger *trigger);
|
| 32 | explicit Counter(AnalogTrigger &trigger);
|
| 33 | Counter(EncodingType encodingType, DigitalSource *upSource, DigitalSource *downSource, bool inverted);
|
| 34 | virtual ~Counter();
|
| 35 |
|
| 36 | void SetUpSource(UINT32 channel);
|
| 37 | void SetUpSource(UINT8 moduleNumber, UINT32 channel);
|
| 38 | void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerOutput::Type triggerType);
|
| 39 | void SetUpSource(AnalogTrigger &analogTrigger, AnalogTriggerOutput::Type triggerType);
|
| 40 | void SetUpSource(DigitalSource *source);
|
| 41 | void SetUpSource(DigitalSource &source);
|
| 42 | void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
|
| 43 | void ClearUpSource();
|
| 44 |
|
| 45 | void SetDownSource(UINT32 channel);
|
| 46 | void SetDownSource(UINT8 moduleNumber, UINT32 channel);
|
| 47 | void SetDownSource(AnalogTrigger *analogTrigger, AnalogTriggerOutput::Type triggerType);
|
| 48 | void SetDownSource(AnalogTrigger &analogTrigger, AnalogTriggerOutput::Type triggerType);
|
| 49 | void SetDownSource(DigitalSource *source);
|
| 50 | void SetDownSource(DigitalSource &source);
|
| 51 | void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
|
| 52 | void ClearDownSource();
|
| 53 |
|
| 54 | void SetUpDownCounterMode();
|
| 55 | void SetExternalDirectionMode();
|
| 56 | void SetSemiPeriodMode(bool highSemiPeriod);
|
| 57 | void SetPulseLengthMode(float threshold);
|
| 58 |
|
| 59 | void SetReverseDirection(bool reverseDirection);
|
| 60 |
|
| 61 | // CounterBase interface
|
| 62 | void Start();
|
| 63 | INT32 Get();
|
| 64 | void Reset();
|
| 65 | void Stop();
|
| 66 | double GetPeriod();
|
| 67 | void SetMaxPeriod(double maxPeriod);
|
| 68 | void SetUpdateWhenEmpty(bool enabled);
|
| 69 | bool GetStopped();
|
| 70 | bool GetDirection();
|
| 71 | UINT32 GetIndex() {return m_index;}
|
| 72 |
|
| 73 |
|
| 74 | void UpdateTable();
|
| 75 | void StartLiveWindowMode();
|
| 76 | void StopLiveWindowMode();
|
| 77 | virtual std::string GetSmartDashboardType();
|
| 78 | void InitTable(ITable *subTable);
|
| 79 | ITable * GetTable();
|
| 80 |
|
| 81 | private:
|
| 82 | void InitCounter(Mode mode = kTwoPulse);
|
| 83 |
|
| 84 | DigitalSource *m_upSource; ///< What makes the counter count up.
|
| 85 | DigitalSource *m_downSource; ///< What makes the counter count down.
|
| 86 | bool m_allocatedUpSource; ///< Was the upSource allocated locally?
|
| 87 | bool m_allocatedDownSource; ///< Was the downSource allocated locally?
|
| 88 | tCounter *m_counter; ///< The FPGA counter object.
|
| 89 | UINT32 m_index; ///< The index of this counter.
|
| 90 |
|
| 91 | ITable *m_table;
|
| 92 | };
|
| 93 |
|
| 94 | #endif
|