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 DutyCycleEncoder(DutyCycle dutyCycle)
{
m_dutyCycle = dutyCycle;
m_analogTrigger = new AnalogTrigger(m_dutyCycle);
m_counter = new UpDownCounter();
m_simDevice = SimDevice.Create("DutyCycleEncoder", m_dutyCycle.FPGAIndex);
if (m_simDevice)
{
}
m_analogTrigger.SetLimitsDutyCycle(0.25, 0.75);
m_counter.UpSource = m_analogTrigger.CreateOutput(AnalogTriggerType.kRisingPulse);
m_counter.DownSource = m_analogTrigger.CreateOutput(AnalogTriggerType.kFallingPulse);
SendableRegistry.Instance.AddLW(this, "DutyCycle Encoder", m_dutyCycle.SourceChannel);
}
