public override void RobotInit()
{
absoluteTach = new Tachometer(di);
quadratureTach = new Tachometer(quadDI);
quadratureTach.EdgesPerRevolution = 2048;
quadratureCounter = new UpDownCounter();
quadratureCounter.UpSource = quadDI;
quadratureCounter.UpEdgeConfiguration = EdgeConfiguration.kRisingEdge;
externalDirectionCounter = new ExternalDirectionCounter(quadDI, quadDIB);
externalDirectionCounter2x = new ExternalDirectionCounter(quadDI, quadDIB);
externalDirectionCounter2x.EdgeConfiguration = EdgeConfiguration.kBothEdges;
externalDirectionCounter2x.ReverseDirection = true;
DigitalGlitchFilter filter = new DigitalGlitchFilter();
filter.SetPeriod(TimeSpan.FromSeconds(1));
//filter.Add(di);
interrupt = new AsynchronousInterrupt(di, (r, f) =>
{
Console.WriteLine("Interrupt Occured " + count);
count++;
//Thread.Sleep(20);
});
interrupt.SetInterruptEdges(true, false);
interrupt.Enable();
}
public void TestGlitchFilterOverCreation()
{
List<FilterList> inputs = new List<FilterList>();
try
{
for (int i = 0; i < 3; i++)
{
DigitalInput input = new DigitalInput(i);
DigitalGlitchFilter filter = new DigitalGlitchFilter();
filter.Add(input);
FilterList list = new FilterList
{
input = input,
filter = filter,
index = i
};
inputs.Add(list);
Assert.That(SimData.DIO[i].FilterIndex, Is.EqualTo(i));
}
Assert.Throws<AllocationException>(() =>
{
DigitalGlitchFilter filter = new DigitalGlitchFilter();
});
}
finally
{
foreach (var filterList in inputs)
{
filterList.filter.Remove(filterList.input);
filterList.filter.Dispose();
filterList.input.Dispose();
Assert.That(SimData.DIO[filterList.index].FilterIndex, Is.EqualTo(-1));
}
}
}
