/// <summary>
/// Creates a new Analog Potentiometer on the specified channel. [0..3] on RIO, [4..7] on MXP.
/// </summary>
/// <remarks>
/// Use the fullRange and offset values so that the output produces meaningful
/// values. I.E: you have a 270 degree potentiometer and you want the output to
/// be degrees with the halfway point at 0 degrees. The fullRange value is 270.0(degrees)
/// and the offset is -135.0 since the halfway point after scaling is 135 degrees.
/// <para/>
/// This will calculate the result from the fullRange times the fraction of the
/// supply voltage, plus the offset.
/// </remarks>
/// <param name="channel">The channel this potentiometer is plugged into.</param>
/// <param name="fullRange">The scaling to multiply the fraction by to get a
/// meaningful unit.</param>
/// <param name="offset">The offset to add to the scaled value for controlling the
/// zero value.</param>
public AnalogPotentiometer(int channel, double fullRange = 1, double offset = 0)
{
AnalogInput input = new AnalogInput(channel);
m_initAnalogInput = true;
InitPot(input, fullRange, offset);
}
/// <summary>
/// Delete the analog components used for the accelerometer.
/// </summary>
public override void Dispose()
{
if (m_analogChannel != null && m_allocatedChannel)
{
m_analogChannel.Dispose();
}
m_analogChannel = null;
}
/// <summary>
/// Creates a new instance of the Accelerometer from an existing <see cref="AnalogInput"/>
/// </summary>
/// <param name="channel">The existing <see cref="AnalogInput"/> the accelerometer is connected to.</param>
public AnalogAccelerometer(AnalogInput channel)
{
m_allocatedChannel = false;
if (channel == null)
throw new NullReferenceException("Analog Channel given was null");
m_analogChannel = channel;
InitAccelerometer();
}
/// <summary>
/// Creates a new instance of the Accelerometer from an existing <see cref="AnalogInput"/>
/// </summary>
/// <param name="channel">The existing <see cref="AnalogInput"/> the accelerometer is connected to.</param>
public AnalogAccelerometer(AnalogInput channel)
{
m_allocatedChannel = false;
if (channel == null)
throw new ArgumentNullException(nameof(channel), "Analog Channel given was null");
m_analogChannel = channel;
InitAccelerometer();
}
/// <summary>
/// Delete the analog components used for the accelerometer.
/// </summary>
public override void Dispose()
{
if (m_analogChannel != null && m_allocatedChannel)
{
m_analogChannel.Dispose();
}
m_analogChannel = null;
}
public Gyro(AnalogInput channel)
{
m_analog = channel;
if (m_analog == null)
{
throw new NullReferenceException("AnalogInput supplied to Gyro constructor is null");
}
InitGyro();
}
/// <summary>
/// Frees the potentiometer.
/// </summary>
public void Dispose()
{
if (m_initAnalogInput)
{
m_analogInput.Dispose();
m_analogInput = null;
m_initAnalogInput = false;
}
}
public AnalogTrigger(AnalogInput analogInput)
{
m_analogInput = analogInput ?? throw new ArgumentNullException(nameof(analogInput));
m_port = Hal.AnalogTriggerLowLevel.Initialize(analogInput.m_port);
var index = Index;
UsageReporting.Report(ResourceType.AnalogTrigger, index + 1);
SendableRegistry.Instance.AddLW(this, "AnalogTrigger", index);
}
/// <summary>
/// Creates a new instance of the Accelerometer from an existing <see cref="AnalogInput"/>
/// </summary>
/// <param name="channel">The existing <see cref="AnalogInput"/> the accelerometer is connected to.</param>
public AnalogAccelerometer(AnalogInput channel)
{
m_allocatedChannel = false;
if (channel == null)
{
throw new ArgumentNullException(nameof(channel), "Analog Channel given was null");
}
m_analogChannel = channel;
InitAccelerometer();
}
/// <summary>
/// Creates a new Analog Gyro with an existing <see cref="WPILib.AnalogInput"/>.
/// </summary>
/// <param name="channel">The analog input this gyro is attached to.</param>
public AnalogGyro(AnalogInput channel)
{
if (channel == null)
{
throw new ArgumentNullException(nameof(channel), "Analog input must not be null");
}
AnalogInput = channel;
InitGyro();
Calibrate();
}
///<inheritdoc/>
public override void Dispose()
{
if (AnalogInput != null && m_channelAllocated)
{
AnalogInput.Dispose();
}
HAL_FreeAnalogGyro(m_gyroHandle);
m_gyroHandle = HALInvalidHandle;
AnalogInput = null;
base.Dispose();
}
public AnalogAccumulator(AnalogInput analogInput)
{
m_analogInput = analogInput ?? throw new ArgumentNullException(nameof(analogInput));
if (!analogInput.IsAccumulatorChannel)
{
throw new ArgumentException("Analog Input must be an accumulator channel", nameof(analogInput));
}
m_port = analogInput.m_port;
m_accumulatorOffset = 0;
Hal.AnalogAccumulatorLowLevel.InitAccumulator(m_port);
}
/// <summary>
/// Creates a new Analog Gyro on the specified channel.
/// </summary>
/// <param name="channel">The channel the gyro is on (Must be an accumulator channel). [0..1] on RIO.</param>
public AnalogGyro(int channel)
{
AnalogInput aIn = new AnalogInput(channel);
try
{
CreateGyro(aIn);
}
catch
{
aIn.Dispose();
throw;
}
m_channelAllocated = true;
}
/// <summary>
/// Creates a new Analog Gyro on the specified channel.
/// </summary>
/// <param name="channel">The channel the gyro is on (Must be an accumulator channel). [0..1] on RIO.</param>
public AnalogGyro(int channel)
{
AnalogInput = new AnalogInput(channel);
try
{
InitGyro();
}
catch
{
AnalogInput.Dispose();
throw;
}
Calibrate();
m_channelAllocated = true;
}
/// <summary>
/// Construct an analog trigger given an analog channel.
/// </summary>
/// <remarks>Should be used in case of sharing an analog channel
/// between a trigger and an input.</remarks>
/// <param name="channel">The <see cref="AnalogInput"/> to use for the analog trigger</param>
public AnalogTrigger(AnalogInput channel)
{
if (channel == null)
{
throw new ArgumentNullException(nameof(channel), "The Analog Input given was null");
}
m_analogInput = channel;
int index = 0;
int status = 0;
HALHandle = HAL_InitializeAnalogTrigger(m_analogInput.m_halHandle, ref index, ref status);
CheckStatus(status);
Index = index;
Report(ResourceType.kResourceType_AnalogTrigger, m_analogInput.Channel);
}
public AnalogGyro(AnalogInput input, int center = 0, double offset = 0)
{
m_analogInput = input ?? throw new ArgumentNullException(nameof(input));
m_gyroHandle = Hal.AnalogGyroLowLevel.Initialize(input.m_port);
Hal.AnalogGyroLowLevel.Setup(m_gyroHandle);
UsageReporting.Report(ResourceType.Gyro, m_analogInput.Channel + 1);
SendableRegistry.Instance.AddLW(this, "AnalogGyro", m_analogInput.Channel);
if (center != 0 || offset != 0)
{
Hal.AnalogGyroLowLevel.SetParameters(m_gyroHandle, DefaultVoltsPerDegreePerSecond, offset, center);
Reset();
}
else
{
Calibrate();
}
}
/// <summary>
/// Creates a new Analog Gyro with an existing <see cref="WPILib.AnalogInput"/>.
/// </summary>
/// <param name="channel">The analog input this gyro is attached to.</param>
public AnalogGyro(AnalogInput channel)
{
CreateGyro(channel);
}
private void InitPot(AnalogInput input, double fullRange, double offset)
{
m_fullRange = fullRange;
m_offset = offset;
m_analogInput = input;
}
/// <summary>
/// Create a new instance of an accelerometer, declaring a new analog channel.
/// </summary>
/// <param name="channel">The channel the accelerometer is connected to. [0..3] on RIO, [4..7] on MXP</param>
public AnalogAccelerometer(int channel)
{
m_allocatedChannel = true;
m_analogChannel = new AnalogInput(channel);
InitAccelerometer();
}
private void CreateGyro(AnalogInput channel)
{
AnalogInput = channel;
if (AnalogInput == null)
{
throw new ArgumentNullException(nameof(channel), "AnalogInput supplied to Gyro constructor is null");
}
if (!AnalogInput.IsAccumulatorChannel)
{
throw new ArgumentOutOfRangeException(nameof(channel), "Channel must be an accumulator channel");
}
Sensitivity = kDefaultVoltsPerDegreePerSecond;
AnalogInput.AverageBits = kAverageBits;
AnalogInput.OversampleBits = kOversampleBits;
double sampleRate = kSamplesPerSecond
* (1 << (kAverageBits + kOversampleBits));
AnalogInput.GlobalSampleRate = sampleRate;
Timer.Delay(0.1);
Deadband = 0.0;
PIDSourceType = PIDSourceType.Displacement;
HAL.Base.HAL.Report(ResourceType.kResourceType_Gyro, (byte)AnalogInput.Channel);
LiveWindow.LiveWindow.AddSensor("AnalogGyro", AnalogInput.Channel, this);
Calibrate();
}
public SWave_Potentiometer(AnalogInput input, double fullRange, double offset)
: base(input, fullRange, offset)
{
}
public AnalogAccelerometer(AnalogInput analogInput)
{
m_analogInput = analogInput ?? throw new ArgumentNullException(nameof(analogInput));
UsageReporting.Report(ResourceType.Accelerometer, analogInput.Channel + 1);
SendableRegistry.Instance.AddLW(this, "Accelerometer", analogInput.Channel);
}
public SWave_Potentiometer(AnalogInput input)
: base(input)
{
}
/// <summary>
/// Frees the potentiometer.
/// </summary>
public void Dispose()
{
if (m_initAnalogInput)
{
m_analogInput.Dispose();
m_analogInput = null;
m_initAnalogInput = false;
}
}
/// <summary>
/// Creates a new Analog Potentiometer with the precreated input.
/// </summary>
/// <remarks>
/// Use the fullRange and offset values so that the output produces meaningful
/// values. I.E: you have a 270 degree potentiometer and you want the output to
/// be degrees with the halfway point at 0 degrees. The fullRange value is 270.0(degrees)
/// and the offset is -135.0 since the halfway point after scaling is 135 degrees.
/// <para/>
/// This will calculate the result from the fullRange times the fraction of the
/// supply voltage, plus the offset.
/// </remarks>
/// <param name="input">The <see cref="AnalogInput"/> this potentiometer is plugged into.</param>
/// <param name="fullRange">The scaling to multiply the fraction by to get a
/// meaningful unit.</param>
/// <param name="offset">The offset to add to the scaled value for controlling the
/// zero value.</param>
public AnalogPotentiometer(AnalogInput input, double fullRange = 1, double offset = 0)
{
m_initAnalogInput = false;
InitPot(input, fullRange, offset);
}
///<inheritdoc/>
public override void Dispose()
{
if (m_analog != null && m_channelAllocated)
{
m_analog.Dispose();
}
m_analog = null;
//base.Dispose();
}
/// <summary>
/// Create a new instance of an accelerometer, declaring a new analog channel.
/// </summary>
/// <param name="channel">The channel the accelerometer is connected to. [0..3] on RIO, [4..7] on MXP</param>
public AnalogAccelerometer(int channel)
{
m_allocatedChannel = true;
m_analogChannel = new AnalogInput(channel);
InitAccelerometer();
}
private void InitPot(AnalogInput input, double fullRange, double offset)
{
m_fullRange = fullRange;
m_offset = offset;
m_analogInput = input;
}
/// <summary>
/// Construct an analog trigger given an analog channel.
/// </summary>
/// <remarks>Should be used in case of sharing an analog channel
/// between a trigger and an input.</remarks>
/// <param name="channel">The <see cref="AnalogInput"/> to use for the analog trigger</param>
public AnalogTrigger(AnalogInput channel)
{
if (channel == null)
throw new ArgumentNullException(nameof(channel), "The Analog Input given was null");
InitTrigger(channel.Channel);
}
public AnalogPotentiometer(int channel, double fullRange, double offset)
{
AnalogInput input = new AnalogInput(channel);
m_initAnalogInput = true;
InitPot(input, fullRange, offset);
}
public SWave_Potentiometer(AnalogInput input, double scale)
: base(input, scale)
{
}
public AnalogPotentiometer(AnalogInput input, double fullRange, double offset)
{
m_initAnalogInput = false;
InitPot(input, fullRange, offset);
}
public AnalogPotentiometer(AnalogInput input, double scale)
: this(input, scale, 0)
{
}
/// <summary>
/// AnalogPotentiometer constructor
/// </summary>
/// <param name="input">The <see cref="AnalogInput"/> this potentiometer is plugged into.</param>
public AnalogPotentiometer(AnalogInput input)
: this(input, 1, 0)
{
}
/// <summary>
/// Construct an analog trigger given an analog channel.
/// </summary>
/// <remarks>Should be used in case of sharing an analog channel
/// between a trigger and an input.</remarks>
/// <param name="channel">The <see cref="AnalogInput"/> to use for the analog trigger</param>
public AnalogTrigger(AnalogInput channel)
{
if (channel == null)
throw new NullReferenceException("The Analog Input given was null");
InitTrigger(channel.Channel);
}
public AnalogPotentiometer(AnalogInput analogInput, Angle fullRange, Angle offset = default)
{
m_analogInput = analogInput;
m_fullRange = fullRange;
m_offset = offset;
}
///<inheritdoc/>
public override void Dispose()
{
if (AnalogInput != null && m_channelAllocated)
{
AnalogInput.Dispose();
}
AnalogInput = null;
base.Dispose();
}
