Merge branch 'master' of github.com:FRC2994/FRC2994

Code/2012-Competition/CameraLight.cpp

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+#include "CameraLight.h"
+
+/**
+ * Create an instance of a Solenoid controlled LED camera light using the default
+ * module
+ * @param innerLED The channel number of the solenoid that controls the inner ring.
+ * @param outerLED The channel number of the solenoid that controls the outer ring.
+ */
+SolenoidCameraLight::SolenoidCameraLight(UINT32 innerLED, UINT32 outerLED)
+{
+	m_innerLED = new Solenoid(innerLED);
+	m_outerLED = new Solenoid(outerLED);
+	m_allocatedLED = true;
+
+	Off();
+}
+
+/**
+ * Create an instance of a Solenoid controlled LED camera light using the given
+ * module
+ * @param innerLEDModuleNumber The solenoid module where the inner ring's
+ * solenoid is located.
+ * @param innerLED The channel number of the solenoid that controls the inner ring.
+ * @param innerLEDModuleNumber The solenoid module where the outer ring's
+ * solenoid is located.
+ * @param outerLED The channel number of the solenoid that controls the outer ring.
+ */
+SolenoidCameraLight::SolenoidCameraLight(UINT8 innerLEDModuleNumber, UINT32 innerLED,
+					UINT8 outerLEDModuleNumber, UINT32 outerLED)
+{
+	m_innerLED = new Solenoid(innerLEDModuleNumber, innerLED);
+	m_outerLED = new Solenoid(innerLEDModuleNumber, outerLED);
+	m_allocatedLED = true;
+
+	Off();
+}
+
+/**
+ * Create an instance of a Solenoid controlled LED camera light using previously
+ * allocated Solenoid objects.
+ * @param innerLED A pointer to the Solenoid object that controls the inner ring.
+ * @param outerLED A pointer to the Solenoid object that controls the outer ring.
+ */
+SolenoidCameraLight::SolenoidCameraLight(Solenoid *innerLED, Solenoid *outerLED)
+{
+	m_innerLED = innerLED;
+	m_outerLED = outerLED;
+	m_allocatedLED = false;
+
+	Off();
+}
+
+/**
+ * Create an instance of a Solenoid controlled LED camera light using previously
+ * allocated Solenoid objects.
+ * @param innerLED A reference to the Solenoid object that controls the inner ring.
+ * @param outerLED A reference to the Solenoid object that controls the outer ring.
+ */
+SolenoidCameraLight::SolenoidCameraLight(Solenoid &innerLED, Solenoid &outerLED)
+{
+	m_innerLED = &innerLED;
+	m_outerLED = &outerLED;
+	m_allocatedLED = false;
+
+	Off();
+}
+
+/**
+ * Destructor for the Solenoid controlled LED camera light.
+ * Turn off the LEDs, and if Solenoid objects were allocated for the inner and outer
+ * LEDs, delete them now.
+ */
+SolenoidCameraLight::~SolenoidCameraLight()
+{
+	Off();
+
+	if (m_allocatedLED)
+	{
+		delete m_innerLED;
+		delete m_outerLED;
+	}
+}
+
+/**
+ * Set the camera light to the given brightness.
+ * @param bright The brightness of the camera light, as a percentage of maximum brightness.
+ * For the Solenoid camera light, either LED ring can be fully on or off, in any combination.
+ * If bright is set to 0, both LED rings are turned off.
+ * If bright is set to 100, both LED rings are turned on.
+ * Intermediate values of bright are implemented by turing only one of the LED rings on.
+ * Note that the outer ring is a bit brighter than the inner ring.
+ */
+void SolenoidCameraLight::Set(UINT32 bright)
+{
+	if (bright == kDark) {
+		m_innerLED->Set(false);
+		m_outerLED->Set(false);
+		return;
+	}
+
+	if (bright >= kFullBrightness) {
+		m_innerLED->Set(true);
+		m_outerLED->Set(true);
+		return;
+	}
+
+	if ((bright > kDark) && (bright <= kThreshold1)) {
+		m_innerLED->Set(true);
+		m_outerLED->Set(false);
+		return;
+	}
+
+	if ((bright > kThreshold1) && (bright <= kThreshold2)) {
+		m_innerLED->Set(false);
+		m_outerLED->Set(true);
+		return;
+	}
+}
+/**
+ * Set the camera light fully on or fully off.
+ * These methods are provided for convenience when simple on/off behaviour is required.
+ * These methods just call Set() with the appropriate brightness value.
+ */
+void SolenoidCameraLight::On()
+{
+	Set(kFullBrightness);
+}
+
+void SolenoidCameraLight::Off()
+{
+	Set(kDark);
+}
+
+
+/**
+ * Create an instance of a GPIO controlled LED camera light using the default
+ * module
+ * @param innerLED The channel number of the GPIO that controls the inner ring.
+ */
+GPIOCameraLight::GPIOCameraLight(UINT32 LED)
+{
+	m_LED = new DigitalOutput(LED);
+	m_allocatedLED = true;
+
+	Off();
+}
+
+/**
+ * Create an instance of a GPIO controlled LED camera light using the given
+ * module
+ * @param LEDModuleNumber The digital module where the inner ring's
+ * solenoid is located.
+ * @param LED The channel number of the GPIO that controls the inner ring.
+ */
+GPIOCameraLight::GPIOCameraLight(UINT8 LEDModuleNumber, UINT32 LED)
+{
+	m_LED = new DigitalOutput(LEDModuleNumber, LED);
+	m_allocatedLED = true;
+
+	Off();
+}
+
+/**
+ * Create an instance of a GPIO controlled LED camera light using a previously
+ * allocated DigitalOutput object.
+ * @param innerLED A pointer to the DigitalOutput object that controls the inner ring.
+ * @param outerLED A pointer to the Solenoid object that controls the outer ring.
+ */
+GPIOCameraLight::GPIOCameraLight(DigitalOutput *LED)
+{
+	m_LED = LED;
+	m_allocatedLED = false;
+
+	Off();
+}
+
+/**
+ * Create an instance of a GPIO controlled LED camera light using a previously
+ * allocated GPIO object.
+ * @param innerLED A reference to the DigitalOutput object that controls the inner ring.
+ */
+GPIOCameraLight::GPIOCameraLight(DigitalOutput &LED)
+{
+	m_LED = &LED;
+	m_allocatedLED = false;
+
+	Off();
+}
+
+/**
+ * Destructor for the GPIO controlled LED camera light.
+ * Turn off the LEDs, and if a DigitalOutput object was allocated for the
+ * LED, delete it now.
+ */
+GPIOCameraLight::~GPIOCameraLight()
+{
+	Off();
+
+	if (m_allocatedLED)
+	{
+		delete m_LED;
+	}
+}
+
+/**
+ * Set the camera light to the given brightness.
+ * @param bright The brightness of the camera light, as a percentage of maximum brightness.
+ * For the GPIO camera light, both LED rings are either fully on or fully off.  So a brightness
+ * of 0 turns off both LED rings, and any other value turns on both LED rings.
+ */
+void GPIOCameraLight::Set(UINT32 bright)
+{
+	if (bright == kDark) {
+		m_LED->Set(false);
+		return;
+	} else {
+		m_LED->Set(true);
+		return;
+	}
+}
+
+/**
+ * Set the camera light fully on or fully off.
+ * These methods are provided for convenience when simple on/off behaviour is required.
+ * These methods just call Set() with the appropriate brightness value.
+ */
+void GPIOCameraLight::On()
+{
+	Set(kFullBrightness);
+}
+
+void GPIOCameraLight::Off()
+{
+	Set(kDark);
+}

Code/2012-Competition/CameraLight.h

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+#ifndef CAMERALIGHT_H_
+#define CAMERALIGHT_H_
+
+#include "Solenoid.h"
+#include "DigitalOutput.h"
+
+/**
+ * CameraLight class.
+ * This class is used to control the two concentric LED light rings
+ * surrounding the vision system camera's lens.
+ *
+ * There are different hardware configurations possible, so a base
+ * class is used to define a standard interface, and two derived
+ * classes are used to implement the hardware specific code.
+ * Calling code would normally allocate one of the derived classes,
+ * but manipulate the object via base class pointers.
+ * 
+ * The base class is called CameraLight.
+ * 
+ * The first derived class is SolenoidCameraLight.  This class assumes
+ * the inner and outer LED rings are each controlled by a separate
+ * solenoid output.
+ * 
+ * The second derived class is GPIOCameraLight.  This class assumes
+ * the inner and outer LED rings are both controlled by a single
+ * GPIO.
+ * 
+ */
+
+class CameraLight
+{
+public:
+	typedef enum {
+		kDark = 0,
+		kFullBrightness = 100
+	} LEDBrightness;
+
+	virtual void Set(UINT32 bright = kFullBrightness) = 0;
+	virtual void On() = 0;
+	virtual void Off() = 0;
+
+};
+
+class SolenoidCameraLight: public CameraLight
+{
+public:
+	// Brightness levels supported by Solenoid controlled
+	// camera LEDs.
+	typedef enum {
+		kThreshold1 = 25,
+		kThreshold2 = 50
+	};
+
+	SolenoidCameraLight(UINT32 innerLED, UINT32 outerLED);
+	SolenoidCameraLight(UINT8 innerLEDModuleNumber, UINT32 innerLED,
+						UINT8 outerLEDModuleNumber, UINT32 outerLED);
+	SolenoidCameraLight(Solenoid *innerLED, Solenoid *outerLED);
+	SolenoidCameraLight(Solenoid &innerLED, Solenoid &outerLED);
+
+	virtual ~SolenoidCameraLight();
+
+	void Set(UINT32 bright = kFullBrightness);
+	void On();
+	void Off();
+
+private:
+	Solenoid *m_innerLED;
+	Solenoid *m_outerLED;
+	bool m_allocatedLED;
+};
+
+class GPIOCameraLight: public CameraLight
+{
+public:
+	GPIOCameraLight(UINT32 LED);
+	GPIOCameraLight(UINT8 LEDModuleNumber, UINT32 LED);
+	GPIOCameraLight(DigitalOutput *LED);
+	GPIOCameraLight(DigitalOutput &LED);
+
+	virtual ~GPIOCameraLight();
+
+	void Set(UINT32 bright = kFullBrightness);
+	void On();
+	void Off();
+
+private:
+	DigitalOutput *m_LED;
+	bool m_allocatedLED;
+};
+
+
+#endif