AnalogInput (RoboLibJ

java.lang.Object
- io.github.robolib.module.iface.Interface
- - io.github.robolib.module.iface.AnalogIO
  - - io.github.robolib.module.iface.AnalogInput

All Implemented Interfaces:

LiveWindowSendable, NumberSource, Sendable, UpdatingSendable

Direct Known Subclasses:

AnalogGyro, Potentiometer
```
public class AnalogInput
extends AnalogIO
implements LiveWindowSendable, NumberSource
```
Author:

noriah

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

class AnalogInput.AccumulatorResult
Accumulator class

static class AnalogInput.AnalogTriggerType
Analog Trigger Type Enum
- Nested classes/interfaces inherited from class io.github.robolib.module.iface.AnalogIO
  AnalogIO.AnalogChannel, AnalogIO.Direction
- Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface
  Interface.InterfaceType

Nested Classes
Modifier and Type	Class and Description
`class`	`AnalogInput.AccumulatorResult` Accumulator class
`static class`	`AnalogInput.AnalogTriggerType` Analog Trigger Type Enum

Field Summary

Fields
Modifier and Type	Field and Description
`private static int[]`	`ACCUMULATOR_CHANNELS`
`private static int`	`ACCUMULATOR_SLOT`
`private long`	`m_accumulatorOffset`
`protected ITable`	`m_table`
`private int`	`m_triggerIndex`
`private java.nio.ByteBuffer`	`m_triggerPort`

Fields inherited from class io.github.robolib.module.iface.AnalogIO
m_channel, m_port, m_portPointer

Fields inherited from class io.github.robolib.module.iface.Interface
m_ifaceType, MAX_ANALOG_IN_CHANNELS, MAX_ANALOG_OUT_CHANNELS, MAX_DIGITAL_CHANNELS, MAX_PWM_CHANNELS, MAX_RELAY_CHANNELS

Constructor Summary

Constructors
Constructor and Description

AnalogInput(AnalogIO.AnalogChannel channel)
Construct an analog channel.

Constructors
Constructor and Description
`AnalogInput(AnalogIO.AnalogChannel channel)` Construct an analog channel.

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`AnalogTriggerOutput`	`createTriggerOutput(AnalogInput.AnalogTriggerType type)` Creates an AnalogTriggerOutput object.
`void`	`free()` Release the resources used by this object
`double`	`get()` Get the value of this double source
`long`	`getAccumulatorCount()` Read the number of accumulated values.
`void`	`getAccumulatorOutput(AnalogInput.AccumulatorResult result)` Read the accumulated value and the number of accumulated values atomically.
`long`	`getAccumulatorValue()` Read the accumulated value.
`int`	`getAverageBits()` Get the number of averaging bits.
`int`	`getAverageValue()` Get a sample from the output of the oversample and average engine for this channel.
`double`	`getAverageVoltage()` Get a scaled sample from the output of the oversample and average engine for this channel.
`static double`	`getGlobalSampleRate()` Get the current sample rate.
`boolean`	`getInWindow()` Return the InWindow output of the analog trigger.
`long`	`getLSBWeight()` Get the factory scaling least significant bit weight constant.
`int`	`getOffset()` Get the factory scaling offset constant.
`int`	`getOversampleBits()` Get the number of oversample bits.
`java.lang.String`	`getSmartDashboardType()` Live Window code, only does anything if live window is activated.
`ITable`	`getTable()`
`int`	`getTriggerIndex()` Return the index of the analog trigger.
`boolean`	`getTriggerState()` Return the TriggerState output of the analog trigger.
`int`	`getValue()` Get a sample straight from this channel.
`double`	`getVoltage()` Get a scaled sample straight from this channel.
`void`	`initAccumulator()` Initialize the accumulator.
`void`	`initTable(ITable subtable)`
`void`	`initTrigger()`
`boolean`	`isAccumulatorChannel()` Is the channel attached to an accumulator.
`void`	`resetAccumulator()` Resets the accumulator to the initial value.
`void`	`setAccumulatorCenter(int center)` Set the center value of the accumulator.
`void`	`setAccumulatorDeadband(int deadband)` Set the accumulator's deadband.
`void`	`setAccumulatorInitialValue(long initialValue)` Set an initial value for the accumulator.
`void`	`setAverageBits(int bits)` Set the number of averaging bits.
`void`	`setAveraged(boolean useAveraged)` Configure the analog trigger to use the averaged vs.
`void`	`setFiltered(boolean useFiltered)` Configure the analog trigger to use a filtered value.
`static void`	`setGlobalSampleRate(double samples)` Set the sample rate per channel.
`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.
`void`	`setOversampleBits(int bits)` Set the number of oversample bits.
`void`	`startLiveWindowMode()` Analog Channels don't have to do anything special when entering the LiveWindow.
`void`	`stopLiveWindowMode()` Analog Channels don't have to do anything special when exiting the LiveWindow.
`void`	`updateTable()`
`private void`	`validateTrigger()` validate that the trigger pointer is not null

Methods inherited from class io.github.robolib.module.iface.AnalogIO
getChannel, getChannelNumber

Methods inherited from class io.github.robolib.module.iface.Interface
allocateMXPPin, checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPWMChannel, checkRelayChannel, freeMXPPin, getInterfaceType

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - ACCUMULATOR_SLOT
```
private static final int ACCUMULATOR_SLOT
```
    See Also:
    
    Constant Field Values
  - ACCUMULATOR_CHANNELS
```
private static final int[] ACCUMULATOR_CHANNELS
```
  - m_table
```
protected ITable m_table
```
  - m_accumulatorOffset
```
private long m_accumulatorOffset
```
  - m_triggerPort
```
private java.nio.ByteBuffer m_triggerPort
```
  - m_triggerIndex
```
private int m_triggerIndex
```
- Constructor Detail
  - AnalogInput
```
public AnalogInput(AnalogIO.AnalogChannel channel)
```
    Construct an analog channel.
    
    Parameters:
    
    channel - The AnalogChannel to represent. 0-3 are on-board 4-7 are on the MXP port.
- Method Detail
  - free
```
public final void free()
```
    Release the resources used by this object
    
    Overrides:
    
    free in class AnalogIO
  - getValue
```
public int getValue()
```
    Get a sample straight from this channel. The sample is a 12-bit value representing the 0V to 5V range of the A/D converter. The units are in A/D converter codes. Use GetVoltage() to get the analog value in calibrated units.
    
    Returns:
    
    A sample straight from this channel.
  - getAverageValue
```
public int getAverageValue()
```
    Get a sample from the output of the oversample and average engine for this channel. The sample is 12-bit + the bits configured in SetOversampleBits(). The value configured in setAverageBits() will cause this value to be averaged 2^bits number of samples. This is not a sliding window. The sample will not change until 2^(OversampleBits + AverageBits) samples have been acquired from this channel. Use getAverageVoltage() to get the analog value in calibrated units.
    
    Returns:
    
    A sample from the oversample and average engine for this channel.
  - getVoltage
```
public double getVoltage()
```
    Get a scaled sample straight from this channel. The value is scaled to units of Volts using the calibrated scaling data from getLSBWeight() and getOffset().
    
    Returns:
    
    A scaled sample straight from this channel.
  - getAverageVoltage
```
public double getAverageVoltage()
```
    Get a scaled sample from the output of the oversample and average engine for this channel. The value is scaled to units of Volts using the calibrated scaling data from getLSBWeight() and getOffset(). Using oversampling will cause this value to be higher resolution, but it will update more slowly. Using averaging will cause this value to be more stable, but it will update more slowly.
    
    Returns:
    
    A scaled sample from the output of the oversample and average engine for this channel.
  - get
```
public double get()
```
    Get the value of this double source
    
    Specified by:
    
    get in interface NumberSource
    
    Returns:
    
    the value of this double source.
  - getLSBWeight
```
public long getLSBWeight()
```
    Get the factory scaling least significant bit weight constant. The least significant bit weight constant for the channel that was calibrated in manufacturing and stored in an eeprom. Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
    
    Returns:
    
    Least significant bit weight.
  - getOffset
```
public int getOffset()
```
    Get the factory scaling offset constant. The offset constant for the channel that was calibrated in manufacturing and stored in an eeprom. Volts = ((LSB_Weight * 1e-9) * raw) - (Offset * 1e-9)
    
    Returns:
    
    Offset constant.
  - setAverageBits
```
public void setAverageBits(int bits)
```
    Set the number of averaging bits. This sets the number of averaging bits. The actual number of averaged samples is 2^bits. The averaging is done automatically in the FPGA.
    
    Parameters:
    
    bits - The number of averaging bits.
  - getAverageBits
```
public int getAverageBits()
```
    Get the number of averaging bits. This gets the number of averaging bits from the FPGA. The actual number of averaged samples is 2^bits. The averaging is done automatically in the FPGA.
    
    Returns:
    
    The number of averaging bits.
  - setOversampleBits
```
public void setOversampleBits(int bits)
```
    Set the number of oversample bits. This sets the number of oversample bits. The actual number of oversampled values is 2^bits. The oversampling is done automatically in the FPGA.
    
    Parameters:
    
    bits - The number of oversample bits.
  - getOversampleBits
```
public int getOversampleBits()
```
    Get the number of oversample bits. This gets the number of oversample bits from the FPGA. The actual number of oversampled values is 2^bits. The oversampling is done automatically in the FPGA.
    
    Returns:
    
    The number of oversample bits.
  - initAccumulator
```
public void initAccumulator()
```
    Initialize the accumulator.
  - setAccumulatorInitialValue
```
public void setAccumulatorInitialValue(long initialValue)
```
    Set an initial value for the accumulator. This will be added to all values returned to the user.
    
    Parameters:
    
    initialValue - The value that the accumulator should start from when reset.
  - resetAccumulator
```
public void resetAccumulator()
```
    Resets the accumulator to the initial value.
  - setAccumulatorCenter
```
public void setAccumulatorCenter(int center)
```
    Set the center value of the accumulator. The center value is subtracted from each A/D value before it is added to the accumulator. This is used for the center value of devices like gyros and accelerometers to take the device offset into account when integrating. This center value is based on the output of the oversampled and averaged source the accumulator channel. Because of this, any non-zero oversample bits will affect the size of the value for this field.
    
    Parameters:
    
    center - the center of the accumulator
  - setAccumulatorDeadband
```
public void setAccumulatorDeadband(int deadband)
```
    Set the accumulator's deadband.
    
    Parameters:
    
    deadband - The deadband size in ADC codes (12-bit value)
  - getAccumulatorValue
```
public long getAccumulatorValue()
```
    Read the accumulated value. Read the value that has been accumulating. The accumulator is attached after the oversample and average engine.
    
    Returns:
    
    The 64-bit value accumulated since the last Reset().
  - getAccumulatorCount
```
public long getAccumulatorCount()
```
    Read the number of accumulated values. Read the count of the accumulated values since the accumulator was last Reset().
    
    Returns:
    
    The number of times samples from the channel were accumulated.
  - getAccumulatorOutput
```
public void getAccumulatorOutput(AnalogInput.AccumulatorResult result)
```
    Read the accumulated value and the number of accumulated values atomically. This function reads the value and count from the FPGA atomically. This can be used for averaging.
    
    Parameters:
    
    result - AccumulatorResult object to store the results in.
  - isAccumulatorChannel
```
public boolean isAccumulatorChannel()
```
    Is the channel attached to an accumulator.
    
    Returns:
    
    The analog channel is attached to an accumulator.
  - setGlobalSampleRate
```
public static void setGlobalSampleRate(double samples)
```
    Set the sample rate per channel. This is a global setting for all channels. The maximum rate is 500kS/s divided by the number of channels in use. This is 62500 samples/s per channel if all 8 channels are used.
    
    Parameters:
    
    samples - The number of samples per second.
  - getGlobalSampleRate
```
public static double getGlobalSampleRate()
```
    Get the current sample rate. This assumes one entry in the scan list. This is a global setting for all channels.
    
    Returns:
    
    Sample rate.
  - initTrigger
```
public void initTrigger()
```
  - 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 useAveraged)
```
    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:
    
    useAveraged - true to use an averaged value, false otherwise
  - setFiltered
```
public void setFiltered(boolean useFiltered)
```
    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:
    
    useFiltered - true to use a filterd value, false otherwise
  - getTriggerIndex
```
public int getTriggerIndex()
```
    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.
  - createTriggerOutput
```
public AnalogTriggerOutput createTriggerOutput(AnalogInput.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 new AnalogTriggerOutput object.
  - validateTrigger
```
private void validateTrigger()
```
    validate that the trigger pointer is not null
  - getSmartDashboardType
```
public java.lang.String getSmartDashboardType()
```
    Live Window code, only does anything if live window is activated.
    
    Specified by:
    
    getSmartDashboardType in interface Sendable
  - initTable
```
public void initTable(ITable subtable)
```
    Specified by:
    
    initTable in interface Sendable
  - updateTable
```
public void updateTable()
```
    Specified by:
    
    updateTable in interface UpdatingSendable
  - getTable
```
public ITable getTable()
```
    Specified by:
    
    getTable in interface Sendable
  - startLiveWindowMode
```
public void startLiveWindowMode()
```
    Analog Channels don't have to do anything special when entering the LiveWindow.
    
    Specified by:
    
    startLiveWindowMode in interface LiveWindowSendable
  - stopLiveWindowMode
```
public void stopLiveWindowMode()
```
    Analog Channels don't have to do anything special when exiting the LiveWindow.
    
    Specified by:
    
    stopLiveWindowMode in interface LiveWindowSendable

Class AnalogInput

Nested Class Summary

Nested classes/interfaces inherited from class io.github.robolib.module.iface.AnalogIO

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface

Field Summary

Fields inherited from class io.github.robolib.module.iface.AnalogIO

Fields inherited from class io.github.robolib.module.iface.Interface

Constructor Summary

Method Summary

Methods inherited from class io.github.robolib.module.iface.AnalogIO

Methods inherited from class io.github.robolib.module.iface.Interface

Methods inherited from class java.lang.Object

Field Detail

ACCUMULATOR_SLOT

ACCUMULATOR_CHANNELS

m_table

m_accumulatorOffset

m_triggerPort

m_triggerIndex

Constructor Detail

AnalogInput

Method Detail

free

getValue

getAverageValue

getVoltage

getAverageVoltage

get

getLSBWeight

getOffset

setAverageBits

getAverageBits

setOversampleBits

getOversampleBits

initAccumulator

setAccumulatorInitialValue

resetAccumulator

setAccumulatorCenter

setAccumulatorDeadband

getAccumulatorValue

getAccumulatorCount

getAccumulatorOutput

isAccumulatorChannel

setGlobalSampleRate

getGlobalSampleRate

initTrigger

setLimitsRaw

setLimitsVoltage

setAveraged

setFiltered

getTriggerIndex

getInWindow

getTriggerState

createTriggerOutput

validateTrigger

getSmartDashboardType

initTable

updateTable

getTable

startLiveWindowMode

stopLiveWindowMode