/**
* Sets the maximum period for stopped detection.
* Sets the value that represents the maximum period of the Encoder before it will assume
* that the attached device is stopped. This timeout allows users to determine if the wheels or
* other shaft has stopped rotating.
* This method compensates for the decoding type.
*
* @deprecated Use SetMinRate() in favor of this method. This takes unscaled periods and SetMinRate() scales using value from SetDistancePerPulse().
*
* @param maxPeriod The maximum time between rising and falling edges before the FPGA will
* report the device stopped. This is expressed in seconds.
*/
void Encoder::SetMaxPeriod(double maxPeriod)
{
if (m_counter)
{
m_counter->SetMaxPeriod(maxPeriod * DecodingScaleFactor());
}
else
{
m_encoder->writeTimerConfig_StallPeriod((UINT32)(maxPeriod * 1.0e6 * DecodingScaleFactor()), &status);
wpi_assertCleanStatus(status);
}
}
/**
* Sets the maximum period for stopped detection.
* Sets the value that represents the maximum period of the Encoder before it will assume
* that the attached device is stopped. This timeout allows users to determine if the wheels or
* other shaft has stopped rotating.
* This method compensates for the decoding type.
*
* @deprecated Use SetMinRate() in favor of this method. This takes unscaled periods and SetMinRate() scales using value from SetDistancePerPulse().
*
* @param maxPeriod The maximum time between rising and falling edges before the FPGA will
* report the device stopped. This is expressed in seconds.
*/
void Encoder::SetMaxPeriod(double maxPeriod)
{
if (StatusIsFatal()) return;
if (m_counter)
{
m_counter->SetMaxPeriod(maxPeriod * DecodingScaleFactor());
}
else
{
tRioStatusCode localStatus = NiFpga_Status_Success;
m_encoder->writeTimerConfig_StallPeriod((UINT32)(maxPeriod * 1.0e6 * DecodingScaleFactor()), &localStatus);
wpi_setError(localStatus);
}
}
/**
* Returns the period of the most recent pulse.
* Returns the period of the most recent Encoder pulse in seconds.
* This method compenstates for the decoding type.
*
* @deprecated Use GetRate() in favor of this method. This returns unscaled periods and GetRate() scales using value from SetDistancePerPulse().
*
* @return Period in seconds of the most recent pulse.
*/
double Encoder::GetPeriod()
{
double measuredPeriod;
if (m_counter)
{
measuredPeriod = m_counter->GetPeriod();
}
else
{
tEncoder::tTimerOutput output = m_encoder->readTimerOutput(&status);
double value;
if (output.Stalled)
{
// Return infinity
double zero = 0.0;
value = 1.0 / zero;
}
else
{
// output.Period is a fixed point number that counts by 2 (24 bits, 25 integer bits)
value = (double)(output.Period << 1) / (double)output.Count;
}
wpi_assertCleanStatus(status);
measuredPeriod = value * 1.0e-6;
}
return measuredPeriod / DecodingScaleFactor();
}
/**
* Returns the period of the most recent pulse.
* Returns the period of the most recent Encoder pulse in seconds.
* This method compenstates for the decoding type.
*
* @deprecated Use GetRate() in favor of this method. This returns unscaled periods and GetRate() scales using value from SetDistancePerPulse().
*
* @return Period in seconds of the most recent pulse.
*/
double Encoder::GetPeriod()
{
if (StatusIsFatal()) return 0.0;
double measuredPeriod;
if (m_counter)
{
measuredPeriod = m_counter->GetPeriod();
}
else
{
tRioStatusCode localStatus = NiFpga_Status_Success;
tEncoder::tTimerOutput output = m_encoder->readTimerOutput(&localStatus);
double value;
if (output.Stalled)
{
// Return infinity
double zero = 0.0;
value = 1.0 / zero;
}
else
{
// output.Period is a fixed point number that counts by 2 (24 bits, 25 integer bits)
value = (double)(output.Period << 1) / (double)output.Count;
}
wpi_setError(localStatus);
measuredPeriod = value * 1.0e-6;
}
return measuredPeriod / DecodingScaleFactor();
}
/**
* Sets the maximum period for stopped detection.
*
* Sets the value that represents the maximum period of the Encoder before it
* will assume that the attached device is stopped. This timeout allows users
* to determine if the wheels or other shaft has stopped rotating.
* This method compensates for the decoding type.
*
* @deprecated Use SetMinRate() in favor of this method. This takes unscaled
* periods and SetMinRate() scales using value from
* SetDistancePerPulse().
*
* @param maxPeriod The maximum time between rising and falling edges before
* the FPGA will report the device stopped. This is expressed
* in seconds.
*/
void Encoder::SetMaxPeriod(double maxPeriod) {
if (StatusIsFatal()) return;
if (m_counter) {
m_counter->SetMaxPeriod(maxPeriod * DecodingScaleFactor());
} else {
int32_t status = 0;
setEncoderMaxPeriod(m_encoder, maxPeriod, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* Returns the period of the most recent pulse.
*
* Returns the period of the most recent Encoder pulse in seconds.
* This method compensates for the decoding type.
*
* @deprecated Use GetRate() in favor of this method. This returns unscaled
* periods and GetRate() scales using value from
* SetDistancePerPulse().
*
* @return Period in seconds of the most recent pulse.
*/
double Encoder::GetPeriod() const {
if (StatusIsFatal()) return 0.0;
if (m_counter) {
return m_counter->GetPeriod() / DecodingScaleFactor();
} else {
int32_t status = 0;
double period = getEncoderPeriod(m_encoder, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return period;
}
}
/**
* Returns the period of the most recent pulse.
* Returns the period of the most recent Encoder pulse in seconds.
* This method compenstates for the decoding type.
*
* @deprecated Use GetRate() in favor of this method. This returns unscaled periods and GetRate() scales using value from SetDistancePerPulse().
*
* @return Period in seconds of the most recent pulse.
*/
double Encoder::GetPeriod()
{
if (m_counter)
{
return m_counter->GetPeriod() * DecodingScaleFactor();
}
else
{
tEncoder::tTimerOutput output = m_encoder->readTimerOutput(&status);
double value;
if (output.Stalled)
{
// Return infinity
double zero = 0.0;
value = 1.0 / zero;
}
else
{
value = (double)output.Period / (double)output.Count;
}
wpi_assertCleanStatus(status);
return value * 1.0e-6 / (DecodingScaleFactor() * 4.0);
}
}
/**
* Get the distance the robot has driven since the last reset.
*
* @return The distance driven since the last reset as scaled by the value from
* SetDistancePerPulse().
*/
double Encoder::GetDistance() const {
if (StatusIsFatal()) return 0.0;
return GetRaw() * DecodingScaleFactor() * m_distancePerPulse;
}
/**
* Gets the current count.
*
* Returns the current count on the Encoder. This method compensates for the
* decoding type.
*
* @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale
* factor.
*/
int32_t Encoder::Get() const {
if (StatusIsFatal()) return 0;
return (int32_t)(GetRaw() * DecodingScaleFactor());
}
/**
* Get the distance the robot has driven since the last reset.
*
* @return The distance driven since the last reset as scaled by the value from SetDistancePerPulse().
*/
double Encoder::GetDistance()
{
return GetRaw() * DecodingScaleFactor() * m_distancePerPulse;
}
/**
* Gets the current count.
* Returns the current count on the Encoder.
* This method compensates for the decoding type.
*
* @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
*/
INT32 Encoder::Get()
{
return (INT32) (GetRaw() * DecodingScaleFactor());
}
/**
* Gets the current count.
* Returns the current count on the Encoder.
* This method compensates for the decoding type.
*
* @return Current count from the Encoder adjusted for the 1x, 2x, or 4x scale factor.
*/
INT32 Encoder::Get()
{
if (StatusIsFatal()) return 0;
return (INT32) (GetRaw() * DecodingScaleFactor());
}
