GearTooth Class Reference

#include <GearTooth.h>

Inheritance diagram for GearTooth:

Public Member Functions
	GearTooth (uint32_t channel, bool directionSensitive=false)
	GearTooth (uint8_t moduleNumber, uint32_t channel, bool directionSensitive=false)
	GearTooth (DigitalSource *source, bool directionSensitive=false)
	GearTooth (DigitalSource &source, bool directionSensitive=false)
virtual	~GearTooth ()
void	EnableDirectionSensing (bool directionSensitive)
virtual std::string	GetSmartDashboardType ()
Public Member Functions inherited from Counter
	Counter ()
	Counter (uint32_t channel)
	Counter (uint8_t moduleNumber, uint32_t channel)
	Counter (DigitalSource *source)
	Counter (DigitalSource &source)
	Counter (AnalogTrigger *trigger)
	Counter (AnalogTrigger &trigger)
	Counter (EncodingType encodingType, DigitalSource *upSource, DigitalSource *downSource, bool inverted)
virtual	~Counter ()
void	SetUpSource (uint32_t channel)
void	SetUpSource (uint8_t moduleNumber, uint32_t channel)
void	SetUpSource (AnalogTrigger *analogTrigger, AnalogTriggerOutput::Type triggerType)
void	SetUpSource (AnalogTrigger &analogTrigger, AnalogTriggerOutput::Type triggerType)
void	SetUpSource (DigitalSource *source)
void	SetUpSource (DigitalSource &source)
void	SetUpSourceEdge (bool risingEdge, bool fallingEdge)
void	ClearUpSource ()
void	SetDownSource (uint32_t channel)
void	SetDownSource (uint8_t moduleNumber, uint32_t channel)
void	SetDownSource (AnalogTrigger *analogTrigger, AnalogTriggerOutput::Type triggerType)
void	SetDownSource (AnalogTrigger &analogTrigger, AnalogTriggerOutput::Type triggerType)
void	SetDownSource (DigitalSource *source)
void	SetDownSource (DigitalSource &source)
void	SetDownSourceEdge (bool risingEdge, bool fallingEdge)
void	ClearDownSource ()
void	SetUpDownCounterMode ()
void	SetExternalDirectionMode ()
void	SetSemiPeriodMode (bool highSemiPeriod)
void	SetPulseLengthMode (float threshold)
void	SetReverseDirection (bool reverseDirection)
void	Start ()
int32_t	Get ()
void	Reset ()
void	Stop ()
double	GetPeriod ()
void	SetMaxPeriod (double maxPeriod)
void	SetUpdateWhenEmpty (bool enabled)
bool	GetStopped ()
bool	GetDirection ()
void	SetSamplesToAverage (int samplesToAverage)
int	GetSamplesToAverage ()
uint32_t	GetIndex ()
void	UpdateTable ()
void	StartLiveWindowMode ()
void	StopLiveWindowMode ()
void	InitTable (ITable *subTable)
ITable *	GetTable ()
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...

Static Public Attributes
static constexpr double	kGearToothThreshold = 55e-6
	55 uSec for threshold
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

Additional Inherited Members
Public Types inherited from Counter
enum	Mode { kTwoPulse =0, kSemiperiod =1, kPulseLength =2, kExternalDirection =3 }
Public Types inherited from CounterBase
enum	EncodingType { k1X, k2X, k4X }
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 ()
Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()
Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.
Protected Attributes inherited from Counter
DigitalSource *	m_upSource
	What makes the counter count up.
DigitalSource *	m_downSource
	What makes the counter count down.
tCounter *	m_counter
	The FPGA counter object.
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

Alias for counter class. Implement the gear tooth sensor supplied by FIRST. Currently there is no reverse sensing on the gear tooth sensor, but in future versions we might implement the necessary timing in the FPGA to sense direction.

Constructor & Destructor Documentation

GearTooth::GearTooth	(	uint32_t	channel,
		bool	directionSensitive = false
	)

Construct a GearTooth sensor given a channel.

The default module is assumed.

Parameters

channel	The GPIO channel on the digital module that the sensor is connected to.
directionSensitive	Enable the pulse length decoding in hardware to specify count direction.

GearTooth::GearTooth	(	uint8_t	moduleNumber,
		uint32_t	channel,
		bool	directionSensitive = false
	)

Construct a GearTooth sensor given a channel and module.

Parameters

moduleNumber	The digital module (1 or 2).
channel	The GPIO channel on the digital module that the sensor is connected to.
directionSensitive	Enable the pulse length decoding in hardware to specify count direction.

GearTooth::GearTooth	(	DigitalSource *	source,
		bool	directionSensitive = false
	)

Construct a GearTooth sensor given a digital input. This should be used when sharing digial inputs.

Parameters

source	An object that fully descibes the input that the sensor is connected to.
directionSensitive	Enable the pulse length decoding in hardware to specify count direction.

GearTooth::~GearTooth ( )

virtual

Free the resources associated with a gear tooth sensor.

Member Function Documentation

void GearTooth::EnableDirectionSensing

(

bool

directionSensitive

)

Common code called by the constructors.

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

• GearTooth.h
• GearTooth.cpp