cencoder.cpp

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{
	Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
	if (encoder != NULL)
		encoder->SetMaxPeriod(maxPeriod);
}

/**
 * Determine if the encoder is stopped.
 * Using the MaxPeriod value, a boolean is returned that is true if the encoder is considered
 * stopped and false if it is still moving. A stopped encoder is one where the most recent pulse
 * width exceeds the MaxPeriod.
 *
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 * @return True if the encoder is considered stopped.
 */
bool GetEncoderStopped(UINT32 aChannel, UINT32 bChannel)
{
	Encoder *encoder = AllocateEncoder(aChannel, bChannel);
	if (encoder != NULL)
		return encoder->GetStopped();
	else
		return false;
}

/**
 * Determine if the encoder is stopped.
 * Using the MaxPeriod value, a boolean is returned that is true if the encoder is considered
 * stopped and false if it is still moving. A stopped encoder is one where the most recent pulse
 * width exceeds the MaxPeriod.
 *
 * @param aSlot The digital module slot for the A Channel on the encoder
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bSlot The digital module slot for the B Channel on the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 * @return True if the encoder is considered stopped.
 */
bool GetEncoderStopped(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel)
{
	Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
	if (encoder != NULL)
		return encoder->GetStopped();
	else
		return false;
}

/**
 * The last direction the encoder value changed.
 *
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 * @return The last direction the encoder value changed.
 */
bool GetEncoderDirection(UINT32 aChannel, UINT32 bChannel)
{
	Encoder *encoder = AllocateEncoder(aChannel, bChannel);
	if (encoder != NULL)
		return encoder->GetDirection();
	else
		return false;
}

/**
 * The last direction the encoder value changed.
 *
 * @param aSlot The digital module slot for the A Channel on the encoder
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bSlot The digital module slot for the B Channel on the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 * @return The last direction the encoder value changed.
 */
bool GetEncoderDirection(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel)
{
	Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
	if (encoder != NULL)
		return encoder->GetDirection();
	else
		return false;
}

/**
 * Get the distance the robot has driven since the last reset.
 * 
 * @return The distance driven since the last reset as scaled by the value from SetEncoderDistancePerPulse().
 *
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 */
double GetEncoderDistance(UINT32 aChannel, UINT32 bChannel)
{
	Encoder *encoder = AllocateEncoder(aChannel, bChannel);
	if (encoder != NULL)
		return encoder->GetDistance();
	else
		return 0.0;
}

/**
 * Get the distance the robot has driven since the last reset.
 * 
 * @return The distance driven since the last reset as scaled by the value from SetEncoderDistancePerPulse().
 *
 * @param aSlot The digital module slot for the A Channel on the encoder
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bSlot The digital module slot for the B Channel on the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
  */
double GetEncoderDistance(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel)
{
	Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
	if (encoder != NULL)
		return encoder->GetDistance();
	else
		return 0.0;
}

/**
 * Get the current rate of the encoder.
 * Units are distance per second as scaled by the value from SetEncoderDistancePerPulse().
 * 
 * @return The current rate of the encoder.
 *
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 */
double GetEncoderRate(UINT32 aChannel, UINT32 bChannel)
{
	Encoder *encoder = AllocateEncoder(aChannel, bChannel);
	if (encoder != NULL)
		return encoder->GetRate();
	else
		return 0.0;
}

/**
 * Get the current rate of the encoder.
 * Units are distance per second as scaled by the value from SetEncoderDistancePerPulse().
 * 
 * @return The current rate of the encoder.
 *
 * @param aSlot The digital module slot for the A Channel on the encoder
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bSlot The digital module slot for the B Channel on the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
  */
double GetEncoderRate(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel)
{
	Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
	if (encoder != NULL)
		return encoder->GetRate();
	else
		return 0.0;
}

/**
 * Set the minimum rate of the device before the hardware reports it stopped.
 * 
 * @param minRate The minimum rate.  The units are in distance per second as scaled by the value from SetEncoderDistancePerPulse().
 *
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 */
void SetMinEncoderRate(UINT32 aChannel, UINT32 bChannel, double minRate)
{
	Encoder *encoder = AllocateEncoder(aChannel, bChannel);
	if (encoder != NULL)
		encoder->SetMinRate(minRate);
}

/**
 * Set the minimum rate of the device before the hardware reports it stopped.
 * 
 * @param minRate The minimum rate.  The units are in distance per second as scaled by the value from SetEncoderDistancePerPulse().
 *
 * @param aSlot The digital module slot for the A Channel on the encoder
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bSlot The digital module slot for the B Channel on the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 */
void SetMinEncoderRate(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel, double minRate)
{
	Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
	if (encoder != NULL)
		encoder->SetMinRate(minRate);
}

/**
 * Set the distance per pulse for this encoder.
 * This sets the multiplier used to determine the distance driven based on the count value
 * from the encoder.
 * Do not include the decoding type in this scale.  The library already compensates for the decoding type.
 * Set this value based on the encoder's rated Pulses per Revolution and
 * factor in gearing reductions following the encoder shaft.
 * This distance can be in any units you like, linear or angular.
 * 
 * @param distancePerPulse The scale factor that will be used to convert pulses to useful units.
 * 
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 */
void SetEncoderDistancePerPulse(UINT32 aChannel, UINT32 bChannel, double distancePerPulse)
{
	Encoder *encoder = AllocateEncoder(aChannel, bChannel);
	if (encoder != NULL)
		encoder->SetDistancePerPulse(distancePerPulse);
}

/**
 * Set the distance per pulse for this encoder.
 * This sets the multiplier used to determine the distance driven based on the count value
 * from the encoder.
 * Do not include the decoding type in this scale.  The library already compensates for the decoding type.
 * Set this value based on the encoder's rated Pulses per Revolution and
 * factor in gearing reductions following the encoder shaft.
 * This distance can be in any units you like, linear or angular.
 * 
 * @param distancePerPulse The scale factor that will be used to convert pulses to useful units.
 * 
 * @param aSlot The digital module slot for the A Channel on the encoder
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bSlot The digital module slot for the B Channel on the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 */
void SetEncoderDistancePerPulse(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel, double distancePerPulse)
{
	Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
	if (encoder != NULL)
		encoder->SetDistancePerPulse(distancePerPulse);
}

/**
 * Set the direction sensing for this encoder.
 * This sets the direction sensing on the encoder so that it could count in the correct
 * software direction regardless of the mounting.
 *
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 * @param reverseDirection true if the encoder direction should be reversed
 */
void SetEncoderReverseDirection(UINT32 aChannel, UINT32 bChannel, bool reverseDirection)
{
	Encoder *encoder = AllocateEncoder(aChannel, bChannel);
	if (encoder != NULL)
		encoder->SetReverseDirection(reverseDirection);
}

/**
 * Set the direction sensing for this encoder.
 * This sets the direction sensing on the encoder so that it couldl count in the correct
 * software direction regardless of the mounting.
 *
 * @param aSlot The digital module slot for the A Channel on the encoder
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bSlot The digital module slot for the B Channel on the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 * @param reverseDirection true if the encoder direction should be reversed
 */
void SetEncoderReverseDirection(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel, bool reverseDirection)
{
	Encoder *encoder = AllocateEncoder(aSlot, aChannel, bSlot, bChannel);
	if (encoder != NULL)
		encoder->SetReverseDirection(reverseDirection);
}

/**
 * Free the resources associated with this encoder.
 * Delete the Encoder object and the entries from the cache for this encoder.
 *
 * @param aSlot The digital module slot for the A Channel on the encoder
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bSlot The digital module slot for the B Channel on the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 */
void DeleteEncoder(UINT32 aSlot, UINT32 aChannel, UINT32 bSlot, UINT32 bChannel)
{
	if (SensorBase::CheckDigitalModule(aSlot) && SensorBase::CheckDigitalChannel(aChannel))
	{
		delete encoders[DigitalModule::SlotToIndex(aSlot)][aChannel - 1];
		encoders[DigitalModule::SlotToIndex(aSlot)][aChannel - 1] = NULL;
	}
}

/**
 * Free the resources associated with this encoder.
 * Delete the Encoder object and the entries from the cache for this encoder.
 *
 * @param aChannel The channel on the digital module for the A Channel of the encoder
 * @param bChannel The channel on the digital module for the B Channel of the encoder
 */
void DeleteEncoder(UINT32 aChannel, UINT32 bChannel)
{
	DeleteEncoder(SensorBase::GetDefaultDigitalModule(), aChannel, SensorBase::GetDefaultDigitalModule(), bChannel);
}