WPILib: Counter.h Source File

WPILib 2012
WPILibRoboticsLibraryforFRC
File List
00001 /*----------------------------------------------------------------------------*/
00002 /* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
00003 /* Open Source Software - may be modified and shared by FRC teams. The code   */
00004 /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
00005 /*----------------------------------------------------------------------------*/
00006 
00007 #ifndef CPPCOUNTER_H_
00008 #define CPPCOUNTER_H_
00009 
00010 #include "AnalogTriggerOutput.h"
00011 #include "CounterBase.h"
00012 #include "SensorBase.h"
00013 
00020 class Counter : public SensorBase, public CounterBase
00021 {
00022 public:
00023         typedef enum {kTwoPulse=0, kSemiperiod=1, kPulseLength=2, kExternalDirection=3} Mode;
00024 
00025         Counter();
00026         explicit Counter(UINT32 channel);
00027         Counter(UINT8 moduleNumber, UINT32 channel);
00028         explicit Counter(DigitalSource *source);
00029         explicit Counter(DigitalSource &source);
00030         explicit Counter(AnalogTrigger *trigger);
00031         explicit Counter(AnalogTrigger &trigger);
00032         Counter(EncodingType encodingType, DigitalSource *upSource, DigitalSource *downSource, bool inverted);
00033         virtual ~Counter();
00034 
00035         void SetUpSource(UINT32 channel);
00036         void SetUpSource(UINT8 moduleNumber, UINT32 channel);
00037         void SetUpSource(AnalogTrigger *analogTrigger, AnalogTriggerOutput::Type triggerType);
00038         void SetUpSource(AnalogTrigger &analogTrigger, AnalogTriggerOutput::Type triggerType);
00039         void SetUpSource(DigitalSource *source);
00040         void SetUpSource(DigitalSource &source);
00041         void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
00042         void ClearUpSource();
00043 
00044         void SetDownSource(UINT32 channel);
00045         void SetDownSource(UINT8 moduleNumber, UINT32 channel);
00046         void SetDownSource(AnalogTrigger *analogTrigger, AnalogTriggerOutput::Type triggerType);
00047         void SetDownSource(AnalogTrigger &analogTrigger, AnalogTriggerOutput::Type triggerType);
00048         void SetDownSource(DigitalSource *source);
00049         void SetDownSource(DigitalSource &source);
00050         void SetDownSourceEdge(bool risingEdge, bool fallingEdge);
00051         void ClearDownSource();
00052 
00053         void SetUpDownCounterMode();
00054         void SetExternalDirectionMode();
00055         void SetSemiPeriodMode(bool highSemiPeriod);
00056         void SetPulseLengthMode(float threshold);
00057 
00058         void SetReverseDirection(bool reverseDirection);
00059 
00060         // CounterBase interface
00061         void Start();
00062         INT32 Get();
00063         void Reset();
00064         void Stop();
00065         double GetPeriod();
00066         void SetMaxPeriod(double maxPeriod);
00067         void SetUpdateWhenEmpty(bool enabled);
00068         bool GetStopped();
00069         bool GetDirection();
00070 private:
00071         void InitCounter(Mode mode = kTwoPulse);
00072 
00073         DigitalSource *m_upSource;              
00074         DigitalSource *m_downSource;    
00075         bool m_allocatedUpSource;               
00076         bool m_allocatedDownSource;     
00077         tCounter *m_counter;                            
00078         UINT32 m_index;                                 
00079 };
00080 
00081 #endif