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