/**
* Get a scaled sample straight from the channel on this module.
*
* The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight() and GetOffset().
*
* @param channel The channel to read.
* @return A scaled sample straight from the channel on this module.
*/
float AnalogModule::GetVoltage(UINT32 channel)
{
INT16 value = GetValue(channel);
UINT32 LSBWeight = GetLSBWeight(channel);
INT32 offset = GetOffset(channel);
float voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9;
return voltage;
}
/**
* Get a scaled sample straight from the channel on this module.
*
* The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight() and GetOffset().
*
* @param channel The channel to read.
* @return A scaled sample straight from the channel on this module.
*/
float AnalogModule::GetVoltage(uint32_t channel)
{
int16_t value = GetValue(channel);
uint32_t LSBWeight = GetLSBWeight(channel);
int32_t offset = GetOffset(channel);
float voltage = LSBWeight * 1.0e-9 * value - offset * 1.0e-9;
return voltage;
}
/**
* Get a scaled sample from the output of the oversample and average engine for the channel.
*
* The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight() and GetOffset().
* Using oversampling will cause this value to be higher resolution, but it will update more slowly.
* Using averaging will cause this value to be more stable, but it will update more slowly.
*
* @param channel The channel to read.
* @return A scaled sample from the output of the oversample and average engine for the channel.
*/
float AnalogModule::GetAverageVoltage(UINT32 channel)
{
INT32 value = GetAverageValue(channel);
UINT32 LSBWeight = GetLSBWeight(channel);
INT32 offset = GetOffset(channel);
UINT32 oversampleBits = GetOversampleBits(channel);
float voltage = ((LSBWeight * 1.0e-9 * value) / (float)(1 << oversampleBits)) - offset * 1.0e-9;
return voltage;
}
/**
* Get a scaled sample from the output of the oversample and average engine for the channel.
*
* The value is scaled to units of Volts using the calibrated scaling data from GetLSBWeight() and GetOffset().
* Using oversampling will cause this value to be higher resolution, but it will update more slowly.
* Using averaging will cause this value to be more stable, but it will update more slowly.
*
* @param channel The channel to read.
* @return A scaled sample from the output of the oversample and average engine for the channel.
*/
float AnalogModule::GetAverageVoltage(uint32_t channel)
{
int32_t value = GetAverageValue(channel);
uint32_t LSBWeight = GetLSBWeight(channel);
int32_t offset = GetOffset(channel);
uint32_t oversampleBits = GetOversampleBits(channel);
float voltage = ((LSBWeight * 1.0e-9 * value) / (float)(1 << oversampleBits)) - offset * 1.0e-9;
return voltage;
}
/**
* Convert a voltage to a raw value for a specified channel.
*
* This process depends on the calibration of each channel, so the channel
* must be specified.
*
* @todo This assumes raw values. Oversampling not supported as is.
*
* @param channel The channel to convert for.
* @param voltage The voltage to convert.
* @return The raw value for the channel.
*/
INT32 AnalogModule::VoltsToValue(INT32 channel, float voltage)
{
if (voltage > 10.0)
{
voltage = 10.0;
wpi_setWPIError(VoltageOutOfRange);
}
if (voltage < -10.0)
{
voltage = -10.0;
wpi_setWPIError(VoltageOutOfRange);
}
UINT32 LSBWeight = GetLSBWeight(channel);
INT32 offset = GetOffset(channel);
INT32 value = (INT32) ((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9));
return value;
}
/**
* Convert a voltage to a raw value for a specified channel.
*
* This process depends on the calibration of each channel, so the channel
* must be specified.
*
* @todo This assumes raw values. Oversampling not supported as is.
*
* @param channel The channel to convert for.
* @param voltage The voltage to convert.
* @return The raw value for the channel.
*/
int32_t AnalogModule::VoltsToValue(int32_t channel, float voltage)
{
if (voltage > 10.0)
{
voltage = 10.0;
wpi_setWPIError(VoltageOutOfRange);
}
if (voltage < -10.0)
{
voltage = -10.0;
wpi_setWPIError(VoltageOutOfRange);
}
uint32_t LSBWeight = GetLSBWeight(channel);
int32_t offset = GetOffset(channel);
int32_t value = (int32_t) ((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9));
return value;
}
/**
* Convert a voltage to a raw value for a specified channel.
*
* This process depends on the calibration of each channel, so the channel
* must be specified.
*
* @todo This assumes raw values. Oversampling not supported as is.
*
* @param channel The channel to convert for.
* @param voltage The voltage to convert.
* @return The raw value for the channel.
*/
INT32 AnalogModule::VoltsToValue(INT32 channel, float voltage)
{
if (voltage > 10.0)
{
voltage = 10.0;
wpi_fatal(VoltageOutOfRange);
}
if (voltage < -10.0)
{
voltage = -10.0;
wpi_fatal(VoltageOutOfRange);
}
UINT32 LSBWeight = GetLSBWeight(channel);
INT32 offset = GetOffset(channel);
INT32 value = (INT32) ((voltage + offset * 1.0e-9) / (LSBWeight * 1.0e-9));
wpi_assertCleanStatus(status);
return value;
}
