edu.wpi.first.wpilibj

Class AnalogTrigger

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.SensorBase

edu.wpi.first.wpilibj.AnalogTrigger

All Implemented Interfaces:

Sendable

public class AnalogTrigger
extends SensorBase
implements Sendable

Class for creating and configuring Analog Triggers.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	AnalogTrigger.AnalogTriggerException Exceptions dealing with improper operation of the Analog trigger.

Field Summary

Fields

Modifier and Type	Field and Description
protected AnalogInput	m_analogInput
protected int	m_index
protected boolean	m_ownsAnalog
protected int	m_port Where the analog trigger is attached.

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPCMModules, kPDPChannels, kPDPModules, kPwmChannels, kRelayChannels, kSolenoidChannels, kSystemClockTicksPerMicrosecond

Constructor Summary

Constructors

Constructor and Description
AnalogTrigger(AnalogInput channel) Construct an analog trigger given an analog channel.
AnalogTrigger(int channel) Constructor for an analog trigger given a channel number.

Method Summary

Modifier and Type	Method and Description
AnalogTriggerOutput	createOutput(AnalogTriggerOutput.AnalogTriggerType type) Creates an AnalogTriggerOutput object.
void	free() Release the resources used by this object.
int	getIndex() Return the index of the analog trigger.
boolean	getInWindow() Return the InWindow output of the analog trigger.
boolean	getTriggerState() Return the TriggerState output of the analog trigger.
void	initSendable(SendableBuilder builder) Initializes this Sendable object.
void	setAveraged(boolean useAveragedValue) Configure the analog trigger to use the averaged vs.
void	setFiltered(boolean useFilteredValue) Configure the analog trigger to use a filtered value.
void	setLimitsRaw(int lower, int upper) Set the upper and lower limits of the analog trigger.
void	setLimitsVoltage(double lower, double upper) Set the upper and lower limits of the analog trigger.

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPDPModule, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, getDefaultSolenoidModule, setDefaultSolenoidModule

Methods inherited from class edu.wpi.first.wpilibj.SendableBase

addChild, getName, getSubsystem, setName, setName, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

Field Detail

m_port

protected int m_port

Where the analog trigger is attached.

m_index

protected int m_index

m_analogInput

protected AnalogInput m_analogInput

m_ownsAnalog

protected boolean m_ownsAnalog

Constructor Detail

AnalogTrigger

public AnalogTrigger(int channel)

Constructor for an analog trigger given a channel number.

Parameters:

channel - the port to use for the analog trigger

AnalogTrigger

public AnalogTrigger(AnalogInput channel)

Construct an analog trigger given an analog channel. This should be used in the case of sharing an analog channel between the trigger and an analog input object.

Parameters:

channel - the AnalogInput to use for the analog trigger

Method Detail

free

public void free()

Release the resources used by this object.

Overrides:

free in class SendableBase

setLimitsRaw

public void setLimitsRaw(int lower,
                         int upper)

Set the upper and lower limits of the analog trigger. The limits are given in ADC codes. If oversampling is used, the units must be scaled appropriately.

Parameters:

lower - the lower raw limit

upper - the upper raw limit

setLimitsVoltage

public void setLimitsVoltage(double lower,
                             double upper)

Set the upper and lower limits of the analog trigger. The limits are given as floating point voltage values.

Parameters:

lower - the lower voltage limit

upper - the upper voltage limit

setAveraged

public void setAveraged(boolean useAveragedValue)

Configure the analog trigger to use the averaged vs. raw values. If the value is true, then the averaged value is selected for the analog trigger, otherwise the immediate value is used.

Parameters:

useAveragedValue - true to use an averaged value, false otherwise

setFiltered

public void setFiltered(boolean useFilteredValue)

Configure the analog trigger to use a filtered value. The analog trigger will operate with a 3 point average rejection filter. This is designed to help with 360 degree pot applications for the period where the pot crosses through zero.

Parameters:

useFilteredValue - true to use a filtered value, false otherwise

getIndex

public int getIndex()

Return the index of the analog trigger. This is the FPGA index of this analog trigger instance.

Returns:

The index of the analog trigger.

getInWindow

public boolean getInWindow()

Return the InWindow output of the analog trigger. True if the analog input is between the upper and lower limits.

Returns:

The InWindow output of the analog trigger.

getTriggerState

public boolean getTriggerState()

Return the TriggerState output of the analog trigger. True if above upper limit. False if below lower limit. If in Hysteresis, maintain previous state.

Returns:

The TriggerState output of the analog trigger.

createOutput

public AnalogTriggerOutput createOutput(AnalogTriggerOutput.AnalogTriggerType type)

Creates an AnalogTriggerOutput object. Gets an output object that can be used for routing. Caller is responsible for deleting the AnalogTriggerOutput object.

Parameters:

type - An enum of the type of output object to create.

Returns:

A pointer to a new AnalogTriggerOutput object.

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder