AnalogChannel.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef ANALOG_CHANNEL_H_
#define ANALOG_CHANNEL_H_

#include "ChipObject.h"
#include "SensorBase.h"
#include "PIDSource.h"
#include "LiveWindow/LiveWindowSendable.h"

class AnalogModule;

class AnalogChannel : public SensorBase, public PIDSource, public LiveWindowSendable
{
public:
        static const uint8_t kAccumulatorModuleNumber = 1;
        static const uint32_t kAccumulatorNumChannels = 2;
        static const uint32_t kAccumulatorChannels[kAccumulatorNumChannels];

        AnalogChannel(uint8_t moduleNumber, uint32_t channel);
        explicit AnalogChannel(uint32_t channel);
        virtual ~AnalogChannel();

        AnalogModule *GetModule();

        int16_t GetValue();
        int32_t GetAverageValue();

        float GetVoltage();
        float GetAverageVoltage();

        uint8_t GetModuleNumber();
        uint32_t GetChannel();

        void SetAverageBits(uint32_t bits);
        uint32_t GetAverageBits();
        void SetOversampleBits(uint32_t bits);
        uint32_t GetOversampleBits();

        uint32_t GetLSBWeight();
        int32_t GetOffset();

        bool IsAccumulatorChannel();
        void InitAccumulator();
        void SetAccumulatorInitialValue(INT64 value);
        void ResetAccumulator();
        void SetAccumulatorCenter(int32_t center);
        void SetAccumulatorDeadband(int32_t deadband);
        INT64 GetAccumulatorValue();
        uint32_t GetAccumulatorCount();
        void GetAccumulatorOutput(INT64 *value, uint32_t *count);
        void SetVoltageForPID(bool shouldUseVoltageForPID);
        
        double PIDGet();
        
        void UpdateTable();
        void StartLiveWindowMode();
        void StopLiveWindowMode();
        std::string GetSmartDashboardType();
        void InitTable(ITable *subTable);
        ITable * GetTable();

private:
        void InitChannel(uint8_t moduleNumber, uint32_t channel);
        uint32_t m_channel;
        AnalogModule *m_module;
        tAccumulator *m_accumulator;
        INT64 m_accumulatorOffset;
        bool m_shouldUseVoltageForPID;
        
        ITable *m_table;
};

#endif