#----------------------------------------------------------------------------
# Copyright (c) FIRST 2008-2012. All Rights Reserved.
# Open Source Software - may be modified and shared by FRC teams. The code
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.
#----------------------------------------------------------------------------
import hal
from .counter import Counter
from .livewindow import LiveWindow
__all__ = ["GearTooth"]
[docs]class GearTooth(Counter):
"""Interface to the gear tooth sensor supplied by FIRST
Currently there is no reverse sensing on the gear tooth sensor, but in
future versions we might implement the necessary timing in the FPGA to
sense direction.
"""
kGearToothThreshold = 55e-6
[docs] def enableDirectionSensing(self, directionSensitive):
if directionSensitive:
self.setPulseLengthMode(GearTooth.kGearToothThreshold)
def __init__(self, channel, directionSensitive=False):
"""Construct a GearTooth sensor.
:param channel: The DIO channel index or DigitalSource that the sensor
is connected to.
:type channel: int
:param directionSensitive: True to enable the pulse length decoding in
hardware to specify count direction. Defaults to False.
:type directionSensitive: bool
"""
super().__init__(channel)
self.enableDirectionSensing(directionSensitive)
if hasattr(self.upSource, "getChannel"):
if directionSensitive:
hal.HALReport(hal.HALUsageReporting.kResourceType_GearTooth,
self.upSource.getChannel(), 0, "D")
else:
hal.HALReport(hal.HALUsageReporting.kResourceType_GearTooth,
self.upSource.getChannel(), 0)
LiveWindow.addSensorChannel("GearTooth", self.upSource.getChannel(),
self)
# Live Window code, only does anything if live window is activated.
def getSmartDashboardType(self):
return "Gear Tooth"