/**
* Set the index source for the encoder. When this source is activated, the encoder count automatically resets.
*
* @param channel A DIO channel to set as the encoder index
* @param type The state that will cause the encoder to reset
*/
void Encoder::SetIndexSource(uint32_t channel, Encoder::IndexingType type) {
int32_t status = 0;
bool activeHigh = (type == kResetWhileHigh) || (type == kResetOnRisingEdge);
bool edgeSensitive = (type == kResetOnFallingEdge) || (type == kResetOnRisingEdge);
setEncoderIndexSource(m_encoder, channel, false, activeHigh, edgeSensitive, &status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Set the index source for the encoder. When this source is activated, the encoder count automatically resets.
*
* @param channel A digital source to set as the encoder index
* @param type The state that will cause the encoder to reset
*/
void Encoder::SetIndexSource(DigitalSource *source, Encoder::IndexingType type) {
int32_t status = 0;
bool activeHigh = (type == kResetWhileHigh) || (type == kResetOnRisingEdge);
bool edgeSensitive = (type == kResetOnFallingEdge) || (type == kResetOnRisingEdge);
setEncoderIndexSource(m_encoder, source->GetChannelForRouting(), source->GetAnalogTriggerForRouting(), activeHigh,
edgeSensitive, &status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
}
uint64_t GetFPGATime() {
int32_t status = 0;
uint64_t time = HAL_GetFPGATime(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
return time;
}
int64_t GetFPGARevision() {
int32_t status = 0;
int64_t revision = HAL_GetFPGARevision(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
return revision;
}
int GetFPGAVersion() {
int32_t status = 0;
int version = HAL_GetFPGAVersion(&status);
wpi_setGlobalErrorWithContext(status, HAL_GetErrorMessage(status));
return version;
}
/**
* Get the current sample rate for all channels
*
* @return Sample rate.
*/
float AnalogInput::GetSampleRate() {
int32_t status = 0;
float sampleRate = getAnalogSampleRate(&status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
return sampleRate;
}
/**
* Set the sample rate per channel for all analog channels.
* The maximum rate is 500kS/s divided by the number of channels in use.
* This is 62500 samples/s per channel.
* @param samplesPerSecond The number of samples per second.
*/
void AnalogInput::SetSampleRate(float samplesPerSecond) {
int32_t status = 0;
setAnalogSampleRate(samplesPerSecond, &status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
}
/**
* Get the current output of the 5V rail
* @return The controller 5V rail output current value in Amps
*/
double ControllerPower::GetCurrent5V() {
int32_t status = 0;
double retVal = getUserCurrent5V(&status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
return retVal;
}
/**
* Get the count of the total current faults on the 6V rail since the controller
* has booted
* @return The number of faults.
*/
int ControllerPower::GetFaultCount6V() {
int32_t status = 0;
int retVal = getUserCurrentFaults6V(&status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
return retVal;
}
/**
* Get the enabled state of the 6V rail. The rail may be disabled due to a
* controller
* brownout, a short circuit on the rail, or controller over-voltage
* @return The controller 6V rail enabled value. True for enabled.
*/
bool ControllerPower::GetEnabled6V() {
int32_t status = 0;
bool retVal = getUserActive6V(&status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
return retVal;
}
/**
* Get the input voltage to the robot controller
* @return The controller input voltage value in Volts
*/
double ControllerPower::GetInputVoltage() {
int32_t status = 0;
double retVal = getVinVoltage(&status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
return retVal;
}
/**
* Return the FPGA Revision number.
* The format of the revision is 3 numbers.
* The 12 most significant bits are the Major Revision.
* the next 8 bits are the Minor Revision.
* The 12 least significant bits are the Build Number.
* @return FPGA Revision number.
*/
uint32_t GetFPGARevision() {
int32_t status = 0;
uint32_t revision = getFPGARevision(&status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
return revision;
}
/**
* Return the FPGA Version number.
* For now, expect this to be competition year.
* @return FPGA Version number.
*/
uint16_t GetFPGAVersion() {
int32_t status = 0;
uint16_t version = getFPGAVersion(&status);
wpi_setGlobalErrorWithContext(status, getHALErrorMessage(status));
return version;
}
