WPILibC++ 2024.3.2
frc::AnalogTriggerOutput Class Reference

Class to represent a specific output from an analog trigger. More...

#include <frc/AnalogTriggerOutput.h>

Inheritance diagram for frc::AnalogTriggerOutput:
frc::DigitalSource wpi::Sendable wpi::SendableHelper< AnalogTriggerOutput >

Public Member Functions

bool Get () const
 Get the state of the analog trigger output. More...
HAL_Handle GetPortHandleForRouting () const override
AnalogTriggerType GetAnalogTriggerTypeForRouting () const override
bool IsAnalogTrigger () const override
 Is source an AnalogTrigger. More...
int GetChannel () const override
void InitSendable (wpi::SendableBuilder &builder) override
 Initializes this Sendable object. More...
- Public Member Functions inherited from frc::DigitalSource
 DigitalSource ()=default
 DigitalSource (DigitalSource &&)=default
DigitalSourceoperator= (DigitalSource &&)=default
virtual HAL_Handle GetPortHandleForRouting () const =0
virtual AnalogTriggerType GetAnalogTriggerTypeForRouting () const =0
virtual bool IsAnalogTrigger () const =0
virtual int GetChannel () const =0
- Public Member Functions inherited from wpi::Sendable
virtual ~Sendable ()=default
virtual void InitSendable (SendableBuilder &builder)=0
 Initializes this Sendable object. More...
- Public Member Functions inherited from wpi::SendableHelper< AnalogTriggerOutput >
 SendableHelper (const SendableHelper &rhs)=default
 SendableHelper (SendableHelper &&rhs)
SendableHelperoperator= (const SendableHelper &rhs)=default
SendableHelperoperator= (SendableHelper &&rhs)

Protected Member Functions

 AnalogTriggerOutput (const AnalogTrigger &trigger, AnalogTriggerType outputType)
 Create an object that represents one of the four outputs from an analog trigger. More...
- Protected Member Functions inherited from wpi::SendableHelper< AnalogTriggerOutput >
 SendableHelper ()=default
 ~SendableHelper ()


class AnalogTrigger

Detailed Description

Class to represent a specific output from an analog trigger.

This class is used to get the current output value and also as a DigitalSource to provide routing of an output to digital subsystems on the FPGA such as Counter, Encoder, and Interrupt.

The TriggerState output indicates the primary output value of the trigger. If the analog signal is less than the lower limit, the output is false. If the analog value is greater than the upper limit, then the output is true. If the analog value is in between, then the trigger output state maintains its most recent value.

The InWindow output indicates whether or not the analog signal is inside the range defined by the limits.

The RisingPulse and FallingPulse outputs detect an instantaneous transition from above the upper limit to below the lower limit, and vice versa. These pulses represent a rollover condition of a sensor and can be routed to an up / down counter or to interrupts. Because the outputs generate a pulse, they cannot be read directly. To help ensure that a rollover condition is not missed, there is an average rejection filter available that operates on the upper 8 bits of a 12 bit number and selects the nearest outlyer of 3 samples. This will reject a sample that is (due to averaging or sampling) errantly between the two limits. This filter will fail if more than one sample in a row is errantly in between the two limits. You may see this problem if attempting to use this feature with a mechanical rollover sensor, such as a 360 degree no-stop potentiometer without signal conditioning, because the rollover transition is not sharp / clean enough. Using the averaging engine may help with this, but rotational speeds of the sensor will then be limited.

Constructor & Destructor Documentation

◆ AnalogTriggerOutput()

frc::AnalogTriggerOutput::AnalogTriggerOutput ( const AnalogTrigger trigger,
AnalogTriggerType  outputType 

Create an object that represents one of the four outputs from an analog trigger.

Because this class derives from DigitalSource, it can be passed into routing functions for Counter, Encoder, etc.

triggerA pointer to the trigger for which this is an output.
outputTypeAn enum that specifies the output on the trigger to represent.

Member Function Documentation

◆ Get()

bool frc::AnalogTriggerOutput::Get ( ) const

Get the state of the analog trigger output.

The state of the analog trigger output.

◆ GetAnalogTriggerTypeForRouting()

AnalogTriggerType frc::AnalogTriggerOutput::GetAnalogTriggerTypeForRouting ( ) const
The type of analog trigger output to be used.

Implements frc::DigitalSource.

◆ GetChannel()

int frc::AnalogTriggerOutput::GetChannel ( ) const
The channel of the source.

Implements frc::DigitalSource.

◆ GetPortHandleForRouting()

HAL_Handle frc::AnalogTriggerOutput::GetPortHandleForRouting ( ) const
The HAL Handle to the specified source.

Implements frc::DigitalSource.

◆ InitSendable()

void frc::AnalogTriggerOutput::InitSendable ( wpi::SendableBuilder builder)

Initializes this Sendable object.

buildersendable builder

Implements wpi::Sendable.

◆ IsAnalogTrigger()

bool frc::AnalogTriggerOutput::IsAnalogTrigger ( ) const

Is source an AnalogTrigger.

Implements frc::DigitalSource.

Friends And Related Function Documentation

◆ AnalogTrigger

friend class AnalogTrigger

The documentation for this class was generated from the following file: