| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2014-2017. 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 the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #include "AnalogOutput.h" |
| 9 | |
| 10 | #include <limits> |
| 11 | #include <sstream> |
| 12 | |
| 13 | #include "HAL/HAL.h" |
| 14 | #include "HAL/Ports.h" |
| 15 | #include "LiveWindow/LiveWindow.h" |
| 16 | #include "WPIErrors.h" |
| 17 | |
| 18 | using namespace frc; |
| 19 | |
| 20 | /** |
| 21 | * Construct an analog output on the given channel. |
| 22 | * |
| 23 | * All analog outputs are located on the MXP port. |
| 24 | * |
| 25 | * @param channel The channel number on the roboRIO to represent. |
| 26 | */ |
| 27 | AnalogOutput::AnalogOutput(int channel) { |
| 28 | std::stringstream buf; |
| 29 | buf << "analog input " << channel; |
| 30 | |
| 31 | if (!SensorBase::CheckAnalogOutputChannel(channel)) { |
| 32 | wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str()); |
| 33 | m_channel = std::numeric_limits<int>::max(); |
| 34 | m_port = HAL_kInvalidHandle; |
| 35 | return; |
| 36 | } |
| 37 | |
| 38 | m_channel = channel; |
| 39 | |
| 40 | HAL_PortHandle port = HAL_GetPort(m_channel); |
| 41 | int32_t status = 0; |
| 42 | m_port = HAL_InitializeAnalogOutputPort(port, &status); |
| 43 | if (status != 0) { |
| 44 | wpi_setErrorWithContextRange(status, 0, HAL_GetNumAnalogOutputs(), channel, |
| 45 | HAL_GetErrorMessage(status)); |
| 46 | m_channel = std::numeric_limits<int>::max(); |
| 47 | m_port = HAL_kInvalidHandle; |
| 48 | return; |
| 49 | } |
| 50 | |
| 51 | LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this); |
| 52 | HAL_Report(HALUsageReporting::kResourceType_AnalogOutput, m_channel); |
| 53 | } |
| 54 | |
| 55 | /** |
| 56 | * Destructor. |
| 57 | * |
| 58 | * Frees analog output resource. |
| 59 | */ |
| 60 | AnalogOutput::~AnalogOutput() { HAL_FreeAnalogOutputPort(m_port); } |
| 61 | |
| 62 | /** |
| 63 | * Get the channel of this AnalogOutput. |
| 64 | */ |
| 65 | int AnalogOutput::GetChannel() { return m_channel; } |
| 66 | |
| 67 | /** |
| 68 | * Set the value of the analog output. |
| 69 | * |
| 70 | * @param voltage The output value in Volts, from 0.0 to +5.0 |
| 71 | */ |
| 72 | void AnalogOutput::SetVoltage(double voltage) { |
| 73 | int32_t status = 0; |
| 74 | HAL_SetAnalogOutput(m_port, voltage, &status); |
| 75 | |
| 76 | wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); |
| 77 | } |
| 78 | |
| 79 | /** |
| 80 | * Get the voltage of the analog output |
| 81 | * |
| 82 | * @return The value in Volts, from 0.0 to +5.0 |
| 83 | */ |
| 84 | double AnalogOutput::GetVoltage() const { |
| 85 | int32_t status = 0; |
| 86 | double voltage = HAL_GetAnalogOutput(m_port, &status); |
| 87 | |
| 88 | wpi_setErrorWithContext(status, HAL_GetErrorMessage(status)); |
| 89 | |
| 90 | return voltage; |
| 91 | } |
| 92 | |
| 93 | void AnalogOutput::UpdateTable() { |
| 94 | if (m_table != nullptr) { |
| 95 | m_table->PutNumber("Value", GetVoltage()); |
| 96 | } |
| 97 | } |
| 98 | |
| 99 | void AnalogOutput::StartLiveWindowMode() {} |
| 100 | |
| 101 | void AnalogOutput::StopLiveWindowMode() {} |
| 102 | |
| 103 | std::string AnalogOutput::GetSmartDashboardType() const { |
| 104 | return "Analog Output"; |
| 105 | } |
| 106 | |
| 107 | void AnalogOutput::InitTable(std::shared_ptr<ITable> subTable) { |
| 108 | m_table = subTable; |
| 109 | UpdateTable(); |
| 110 | } |
| 111 | |
| 112 | std::shared_ptr<ITable> AnalogOutput::GetTable() const { return m_table; } |