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"

class AnalogModule;

class AnalogChannel : public SensorBase, public PIDSource
{
public:
        static const UINT8 kAccumulatorModuleNumber = 1;
        static const UINT32 kAccumulatorNumChannels = 2;
        static const UINT32 kAccumulatorChannels[kAccumulatorNumChannels];

        AnalogChannel(UINT8 moduleNumber, UINT32 channel);
        explicit AnalogChannel(UINT32 channel);
        virtual ~AnalogChannel();

        AnalogModule *GetModule();

        INT16 GetValue();
        INT32 GetAverageValue();

        float GetVoltage();
        float GetAverageVoltage();

        UINT8 GetModuleNumber();
        UINT32 GetChannel();

        void SetAverageBits(UINT32 bits);
        UINT32 GetAverageBits();
        void SetOversampleBits(UINT32 bits);
        UINT32 GetOversampleBits();

        UINT32 GetLSBWeight();
        INT32 GetOffset();

        bool IsAccumulatorChannel();
        void InitAccumulator();
        void SetAccumulatorInitialValue(INT64 value);
        void ResetAccumulator();
        void SetAccumulatorCenter(INT32 center);
        void SetAccumulatorDeadband(INT32 deadband);
        INT64 GetAccumulatorValue();
        UINT32 GetAccumulatorCount();
        void GetAccumulatorOutput(INT64 *value, UINT32 *count);
        
        double PIDGet();

private:
        void InitChannel(UINT8 moduleNumber, UINT32 channel);
        UINT32 m_channel;
        AnalogModule *m_module;
        tAccumulator *m_accumulator;
        INT64 m_accumulatorOffset;
};

#endif