AnalogTriggerOutput Class Reference

#include <AnalogTriggerOutput.h>

Inheritance diagram for AnalogTriggerOutput:

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

Detailed Description

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.

Constructor & Destructor Documentation

AnalogTriggerOutput::AnalogTriggerOutput ( AnalogTrigger *  trigger, AnalogTriggerOutput::Type  outputType  )

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.

Parameters

trigger	A pointer to the trigger for which this is an output.
outputType	An enum that specifies the output on the trigger to represent.

Member Function Documentation

bool AnalogTriggerOutput::Get

(

)

Get the state of the analog trigger output.

Returns

The state of the analog trigger output.

bool AnalogTriggerOutput::GetAnalogTriggerForRouting ( )

virtual

Returns

The value to be written to the module field of a routing mux.

Implements DigitalSource.

uint32_t AnalogTriggerOutput::GetChannelForRouting ( )

virtual

Returns

The value to be written to the channel field of a routing mux.

Implements DigitalSource.

uint32_t AnalogTriggerOutput::GetModuleForRouting ( )

virtual

Returns

The value to be written to the module field of a routing mux.

Implements DigitalSource.

void AnalogTriggerOutput::RequestInterrupts ( tInterruptHandler  handler, void *  param = NULL  )

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.

void AnalogTriggerOutput::RequestInterrupts ( )

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.

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The documentation for this class was generated from the following files:

• AnalogTriggerOutput.h
• AnalogTriggerOutput.cpp