Encoder.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 QUAD_ENCODER_H_
#define QUAD_ENCODER_H_

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

class DigitalSource;

class Encoder: public SensorBase, public CounterBase, public PIDSource, public LiveWindowSendable
{
public:

    Encoder(uint32_t aChannel, uint32_t bChannel, bool reverseDirection=false, EncodingType encodingType = k4X);
    Encoder(uint8_t aModuleNumber, uint32_t aChannel, uint8_t bModuleNumber, uint32_t _bChannel, bool reverseDirection=false, EncodingType encodingType = k4X);
    Encoder(DigitalSource *aSource, DigitalSource *bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
    Encoder(DigitalSource &aSource, DigitalSource &bSource, bool reverseDirection=false, EncodingType encodingType = k4X);
    virtual ~Encoder();

    // CounterBase interface
    void Start();
    int32_t Get();
    int32_t GetRaw();
    void Reset();
    void Stop();
    double GetPeriod();
    void SetMaxPeriod(double maxPeriod);
    bool GetStopped();
    bool GetDirection();
    double GetDistance();
    double GetRate();
    void SetMinRate(double minRate);
    void SetDistancePerPulse(double distancePerPulse);
    void SetReverseDirection(bool reverseDirection);
    void SetSamplesToAverage(int samplesToAverage);
    int GetSamplesToAverage();
    void SetPIDSourceParameter(PIDSourceParameter pidSource);
    double PIDGet();
    
    void UpdateTable();
    void StartLiveWindowMode();
    void StopLiveWindowMode();
    std::string GetSmartDashboardType();
    void InitTable(ITable *subTable);
    ITable * GetTable();

private:
    void InitEncoder(bool _reverseDirection, EncodingType encodingType);
    double DecodingScaleFactor();

    DigitalSource *m_aSource;       // the A phase of the quad encoder
    DigitalSource *m_bSource;       // the B phase of the quad encoder
    bool m_allocatedASource;        // was the A source allocated locally?
    bool m_allocatedBSource;        // was the B source allocated locally?
    tEncoder* m_encoder;
    uint8_t m_index;
    double m_distancePerPulse;      // distance of travel for each encoder tick
    Counter *m_counter;             // Counter object for 1x and 2x encoding
    EncodingType m_encodingType;    // Encoding type
    PIDSourceParameter m_pidSource;// Encoder parameter that sources a PID controller
    
    ITable *m_table;
};

#endif