virtual void SetUp() {
m_outputA = new DigitalOutput(TestBench::kLoop2OutputChannel);
m_outputB = new DigitalOutput(TestBench::kLoop1OutputChannel);
m_indexOutput = new AnalogOutput(TestBench::kAnalogOutputChannel);
m_outputA->Set(false);
m_outputB->Set(false);
m_encoder = new Encoder(TestBench::kLoop1InputChannel, TestBench::kLoop2InputChannel);
m_indexAnalogTrigger = new AnalogTrigger(TestBench::kFakeAnalogOutputChannel);
m_indexAnalogTrigger->SetLimitsVoltage(2.0, 3.0);
m_indexAnalogTriggerOutput = m_indexAnalogTrigger->CreateOutput(AnalogTriggerType::kState);
}
Counter::Counter(AnalogTrigger &trigger)
{
InitCounter();
SetUpSource(trigger.CreateOutput(AnalogTriggerOutput::kState));
ClearDownSource();
m_allocatedUpSource = true;
}
xCounter::xCounter(AnalogTrigger &trigger) :
m_upSource(NULL),
m_downSource(NULL),
m_counter(NULL),
m_encodingType(k1X)
{
InitCounter();
SetUpSource(trigger.CreateOutput(AnalogTriggerOutput::kState));
ClearDownSource();
m_allocatedUpSource = true;
}
Robot()
{
#if BUILD_VERSION == COMPETITION
forkMotor = new CANTalon(CHAN_FORK_MOTOR);
#else
forkMotor = new CANJaguar(CHAN_FORK_MOTOR);
#endif
toothTrigger = new AnalogTrigger(CHAN_GTC);
toothTrigger->SetLimitsRaw(ANALOG_TRIG_MIN, ANALOG_TRIG_MAX);
gearToothCounter = new Counter(toothTrigger);
forkLimitSwitchMin = new DigitalInput(CHAN_FORK_MIN_LS);
forkLimitSwitchMax = new DigitalInput(CHAN_FORK_MAX_LS);
joystick = new Joystick(CHAN_JS);
}
Robot()
{
#if BUILD_VERSION == COMPETITION
forkMotor = new CANTalon(CH_FORK_MOTOR);
#else
forkMotor = new CANJaguar(CH_FORK_MOTOR);
#endif
toothTrigger = new AnalogTrigger(CH_TOOTH_TRIGGER);
toothTrigger->SetLimitsRaw(GEAR_TRIGGER_MIN, GEAR_TRIGGER_MAX);
gearToothCounter = new Counter(toothTrigger);
// aIn = new AnalogInput(CH_TOOTH_TRIGGER);
forkLimitSwitchMin = new DigitalInput(CH_FORK_LS_MIN);
forkLimitSwitchMax = new DigitalInput(CH_FORK_LS_MAX);
dsBox = new Joystick(CH_JS);
}
void TeleopInit()
{
// Initialize the encoder
sampleEncoder = new Encoder(0, 1, false, Encoder::EncodingType::k4X);
sampleEncoder->SetMaxPeriod(.1);
sampleEncoder->SetMinRate(10);
sampleEncoder->SetDistancePerPulse(5);
sampleEncoder->SetReverseDirection(true);
sampleEncoder->SetSamplesToAverage(7);
// Initialize the joystick
joystick = new Joystick(0);
// Initialize the motor
motor = new Victor(9);
// Initialize the gear tooth counter
toothTrigger = new AnalogTrigger(3);
toothTrigger->SetLimitsRaw(250, 3600);
gearToothCounter = new Counter(toothTrigger);
// gearToothCounter->SetUpDownCounterMode();
}
/**
* 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.
*
* @param trigger A pointer to the trigger for which this is an output.
* @param outputType An enum that specifies the output on the trigger to
* represent.
*/
AnalogTriggerOutput::AnalogTriggerOutput(const AnalogTrigger& trigger,
AnalogTriggerType outputType)
: m_trigger(trigger), m_outputType(outputType) {
HALReport(HALUsageReporting::kResourceType_AnalogTriggerOutput,
trigger.GetIndex(), outputType);
}
/**
* Set the down counting source to be an analog trigger.
* @param analogTrigger The analog trigger object that is used for the Down Source
* @param triggerType The analog trigger output that will trigger the counter.
*/
void Counter::SetDownSource(AnalogTrigger &analogTrigger, AnalogTriggerOutput::Type triggerType)
{
SetDownSource(analogTrigger.CreateOutput(triggerType));
m_allocatedDownSource = true;
}