int16_t read_AI2(NiFpga_Session* session, NiFpga_Status* status)
{
int16_t value;
NiFpga_MergeStatus(status, NiFpga_ReadI16(*session,NiFpga_FPGA_read_ai_ao_IndicatorI16_Connector1AI2,&value));
return value;
}
int16_t FPGA_GetCRIOVLineRead() {
int16_t retval;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadI16(FPGA_Session,NiFpga_mainFPGA_IndicatorI16_cRIOVMonitormV,&retval));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get cRIOV Line Read Failed.");
}
return retval;
}
int16_t FPGA_GetVersion()
{
int16_t version;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadI16(FPGA_Session,NiFpga_mainFPGA_IndicatorI16_FPGAVersion,&version));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get FPGA Version Failed.");
}
return version;
}
int16_t FPGA_GetYawRef()
{
int16_t value;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadI16(FPGA_Session,NiFpga_mainFPGA_IndicatorI16_YawRefmV,&value));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get Yaw Ref Failed.");
}
LOG.DATA("YawRef = %d",value);
return value;
}
// Returns the velocity of the left motor
float FPGA_GetLeftMotorVelocity()
{
int16_t ticks;
NiFpga_MergeStatus(&FPGA_Status,NiFpga_ReadI16(FPGA_Session,NiFpga_mainFPGA_IndicatorI16_LeftMotorVTicksPerDt,&ticks));
if (NiFpga_IsError(FPGA_Status))
{
LOG.ERR("Get Left Motor Velocity Failed.");
}
float Speed = ticks /leftWheelConversionConstant;
LOG.DATA("LMV = %f",Speed);
return Speed;
}
bool nifpga::ReadI16(uint32_t indicator, int16_t* value) {
if (sessionOpen) return HandleStatus(NiFpga_ReadI16(sessionHandle, indicator, value));
return false;
}