#include <AnalogTriggerOutput.h>
Public Types | |
enum | Type { kInWindow =0, kState =1, kRisingPulse =2, kFallingPulse =3 } |
Public Member Functions | |
bool | Get () |
virtual uint32_t | GetChannelForRouting () |
virtual uint32_t | GetModuleForRouting () |
virtual bool | GetAnalogTriggerForRouting () |
virtual void | RequestInterrupts (tInterruptHandler handler, void *param=NULL) |
Asynchronus handler version. More... | |
virtual void | RequestInterrupts () |
Synchronus Wait version. More... | |
Public Member Functions inherited from DigitalSource | |
virtual | ~DigitalSource () |
Public Member Functions inherited from InterruptableSensorBase | |
virtual void | CancelInterrupts () |
Free up the underlying chipobject functions. More... | |
virtual void | WaitForInterrupt (float timeout) |
Synchronus version. More... | |
virtual void | EnableInterrupts () |
Enable interrupts - after finishing setup. More... | |
virtual void | DisableInterrupts () |
Disable, but don't deallocate. More... | |
virtual double | ReadInterruptTimestamp () |
Return the timestamp for the interrupt that occurred. More... | |
Public Member Functions inherited from SensorBase | |
SensorBase () | |
virtual | ~SensorBase () |
Public Member Functions inherited from ErrorBase | |
virtual Error & | GetError () |
Retrieve the current error. Get the current error information associated with this sensor. | |
virtual const Error & | GetError () const |
virtual void | SetErrnoError (const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const |
Set error information associated with a C library call that set an error to the "errno" global variable. More... | |
virtual void | SetImaqError (int success, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const |
Set the current error information associated from the nivision Imaq API. More... | |
virtual void | SetError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | CloneError (ErrorBase *rhs) const |
virtual void | ClearError () const |
Clear the current error information associated with this sensor. | |
virtual bool | StatusIsFatal () const |
Check if the current error code represents a fatal error. More... | |
Protected Member Functions | |
AnalogTriggerOutput (AnalogTrigger *trigger, Type outputType) | |
Protected Member Functions inherited from InterruptableSensorBase | |
void | AllocateInterrupts (bool watcher) |
Protected Member Functions inherited from SensorBase | |
void | AddToSingletonList () |
Protected Member Functions inherited from ErrorBase | |
ErrorBase () | |
Initialize the instance status to 0 for now. | |
Friends | |
class | AnalogTrigger |
Additional Inherited Members | |
Static Public Member Functions inherited from SensorBase | |
static void | DeleteSingletons () |
static uint32_t | GetDefaultAnalogModule () |
static uint32_t | GetDefaultDigitalModule () |
static uint32_t | GetDefaultSolenoidModule () |
static bool | CheckAnalogModule (uint8_t moduleNumber) |
static bool | CheckDigitalModule (uint8_t moduleNumber) |
static bool | CheckPWMModule (uint8_t moduleNumber) |
static bool | CheckRelayModule (uint8_t moduleNumber) |
static bool | CheckSolenoidModule (uint8_t moduleNumber) |
static bool | CheckDigitalChannel (uint32_t channel) |
static bool | CheckRelayChannel (uint32_t channel) |
static bool | CheckPWMChannel (uint32_t channel) |
static bool | CheckAnalogChannel (uint32_t channel) |
static bool | CheckSolenoidChannel (uint32_t channel) |
Static Public Member Functions inherited from ErrorBase | |
static void | SetGlobalError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) |
static void | SetGlobalWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) |
static Error & | GetGlobalError () |
Static Public Attributes inherited from SensorBase | |
static const uint32_t | kSystemClockTicksPerMicrosecond = 40 |
static const uint32_t | kDigitalChannels = 14 |
static const uint32_t | kAnalogChannels = 8 |
static const uint32_t | kAnalogModules = 2 |
static const uint32_t | kDigitalModules = 2 |
static const uint32_t | kSolenoidChannels = 8 |
static const uint32_t | kSolenoidModules = 2 |
static const uint32_t | kPwmChannels = 10 |
static const uint32_t | kRelayChannels = 8 |
static const uint32_t | kChassisSlots = 8 |
Protected Attributes inherited from InterruptableSensorBase | |
tInterrupt * | m_interrupt |
tInterruptManager * | m_manager |
uint32_t | m_interruptIndex |
Protected Attributes inherited from ErrorBase | |
Error | m_error |
Static Protected Attributes inherited from ErrorBase | |
static SEM_ID | _globalErrorMutex = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE) |
static Error | _globalError |
Class to represent a specific output from an analog trigger. This class is used to get the current output value and also as a DigitalSource to provide routing of an output to digital subsystems on the FPGA such as Counter, Encoder, and Interrupt.
The TriggerState output indicates the primary output value of the trigger. If the analog signal is less than the lower limit, the output is false. If the analog value is greater than the upper limit, then the output is true. If the analog value is in between, then the trigger output state maintains its most recent value.
The InWindow output indicates whether or not the analog signal is inside the range defined by the limits.
The RisingPulse and FallingPulse outputs detect an instantaneous transition from above the upper limit to below the lower limit, and vise versa. These pulses represent a rollover condition of a sensor and can be routed to an up / down couter or to interrupts. Because the outputs generate a pulse, they cannot be read directly. To help ensure that a rollover condition is not missed, there is an average rejection filter available that operates on the upper 8 bits of a 12 bit number and selects the nearest outlyer of 3 samples. This will reject a sample that is (due to averaging or sampling) errantly between the two limits. This filter will fail if more than one sample in a row is errantly in between the two limits. You may see this problem if attempting to use this feature with a mechanical rollover sensor, such as a 360 degree no-stop potentiometer without signal conditioning, because the rollover transition is not sharp / clean enough. Using the averaging engine may help with this, but rotational speeds of the sensor will then be limited.
Definition at line 41 of file AnalogTriggerOutput.h.
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protected |
Create an object that represents one of the four outputs from an analog trigger.
Because this class derives from DigitalSource, it can be passed into routing functions for Counter, Encoder, etc.
trigger | A pointer to the trigger for which this is an output. |
outputType | An enum that specifies the output on the trigger to represent. |
Definition at line 21 of file AnalogTriggerOutput.cpp.
bool AnalogTriggerOutput::Get | ( | ) |
Get the state of the analog trigger output.
Definition at line 36 of file AnalogTriggerOutput.cpp.
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virtual |
Implements DigitalSource.
Definition at line 74 of file AnalogTriggerOutput.cpp.
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virtual |
Implements DigitalSource.
Definition at line 58 of file AnalogTriggerOutput.cpp.
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virtual |
Implements DigitalSource.
Definition at line 66 of file AnalogTriggerOutput.cpp.
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virtual |
Asynchronus handler version.
Request interrupts asynchronously on this analog trigger output. TODO: Hardware supports interrupts on Analog Trigger outputs... WPILib should too
Implements DigitalSource.
Definition at line 83 of file AnalogTriggerOutput.cpp.
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virtual |
Synchronus Wait version.
Request interrupts synchronously on this analog trigger output. TODO: Hardware supports interrupts on Analog Trigger outputs... WPILib should too
Implements DigitalSource.
Definition at line 91 of file AnalogTriggerOutput.cpp.