Updated FtcLib.

Added OctoQuad support.

TeamCode/src/main/java/com/qualcomm/hardware/digitalchickenlabs/OctoQuad.java

@@ -0,0 +1,225 @@
+/*
+ * Copyright (c) 2022 DigitalChickenLabs
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+package com.qualcomm.hardware.digitalchickenlabs;
+
+public interface OctoQuad extends OctoQuadBase
+{
+    /**
+     * Class to represent an OctoQuad firmware version
+     */
+    class FirmwareVersion
+    {
+        public final int maj;
+        public final int min;
+        public final int eng;
+
+        public FirmwareVersion(int maj, int min, int eng)
+        {
+            this.maj = maj;
+            this.min = min;
+            this.eng = eng;
+        }
+
+        @Override
+        public String toString()
+        {
+            return String.format("%d.%d.%d", maj, min, eng);
+        }
+    }
+
+    /**
+     * Get the firmware version running on the OctoQuad
+     * @return the firmware version running on the OctoQuad
+     */
+    FirmwareVersion getFirmwareVersion();
+
+    /**
+     * Read a single position from the OctoQuad
+     * Depending on the channel bank configuration, this may
+     * either be quadrature step count, or pulse width.
+     * @param idx the index of the encoder to read
+     * @return the position for the specified encoder
+     */
+    int readSinglePosition(int idx);
+
+    /**
+     * Reads all positions from the OctoQuad, writing the data into
+     * an existing int[] object. The previous values are destroyed.
+     * Depending on the channel bank configuration, this may
+     * either be quadrature step count, or pulse width.
+     * @param out the int[] object to fill with new data
+     */
+    void readAllPositions(int[] out);
+
+    /**
+     * Reads all positions from the OctoQuad
+     * Depending on the channel bank configuration, this may
+     * either be quadrature step count, or pulse width.
+     * @return an int[] object with the new data
+     */
+    int[] readAllPositions();
+
+    /**
+     * Read a selected range of encoders
+     * Depending on the channel bank configuration, this may
+     * either be quadrature step count, or pulse width.
+     * @param idxFirst the first encoder (inclusive)
+     * @param idxLast the last encoder (inclusive)
+     * @return an array containing the requested encoder positions
+     */
+    int[] readPositionRange(int idxFirst, int idxLast);
+
+    /*
+     * More Reset methods in Base interface
+     */
+
+    /**
+     * Reset multiple encoders in the OctoQuad firmware in one command
+     * @param resets the encoders to be reset
+     */
+    void resetMultiplePositions(boolean[] resets);
+
+    /**
+     * Reset multiple encoders in the OctoQuad firmware in one command
+     * @param indices the indices of the encoders to reset
+     */
+    void resetMultiplePositions(int... indices);
+
+    /*
+     * More direction methods in Base interface
+     */
+
+    /**
+     * Set the direction for all encoders
+     * This parameter will NOT be retained across power cycles, unless
+     * you call {@link #saveParametersToFlash()} ()}
+     * @param reverse 8-length direction array
+     */
+    void setAllEncoderDirections(boolean[] reverse);
+
+    /**
+     * Read a single velocity from the OctoQuad
+     * NOTE: if using an absolute pulse width encoder, in order to get sane
+     * velocity data, you must set the channel min/max pulse width parameter.
+     * @param idx the index of the encoder to read
+     * @return the velocity for the specified encoder
+     */
+    short readSingleVelocity(int idx);
+
+    /**
+     * Reads all velocities from the OctoQuad, writing the data into
+     * an existing short[] object. The previous values are destroyed.
+     * NOTE: if using an absolute pulse width encoder, in order to get sane
+     * velocity data, you must set the channel min/max pulse width parameter.
+     * @param out the short[] object to fill with new data
+     */
+    void readAllVelocities(short[] out);
+
+    /**
+     * Reads all velocities from the OctoQuad
+     * NOTE: if using an absolute pulse width encoder, in order to get sane
+     * velocity data, you must set the channel min/max pulse width parameter.
+     * @return a short[] object with the new data
+     */
+    short[] readAllVelocities();
+
+    /**
+     * Read a selected range of encoder velocities
+     * NOTE: if using an absolute pulse width encoder, in order to get sane
+     * velocity data, you must set the channel min/max pulse width parameter.
+     * @param idxFirst the first encoder (inclusive)
+     * @param idxLast the last encoder (inclusive)
+     * @return an array containing the requested velocities
+     */
+    short[] readVelocityRange(int idxFirst, int idxLast);
+
+    class EncoderDataBlock
+    {
+        public int[] positions = new int[NUM_ENCODERS];
+        public short[] velocities = new short[NUM_ENCODERS];
+    }
+
+    /**
+     * Reads all encoder data from the OctoQuad, writing the data into
+     * an existing {@link EncoderDataBlock} object. The previous values are destroyed.
+     * @param out the {@link EncoderDataBlock} object to fill with new data
+     */
+    void readAllEncoderData(EncoderDataBlock out);
+
+    /**
+     * Reads all encoder data from the OctoQuad
+     * @return a {@link EncoderDataBlock} object with the new data
+     */
+    EncoderDataBlock readAllEncoderData();
+
+    /*
+     * More velocity sample interval methods in base interface
+     */
+
+    /**
+     * Set the velocity sample intervals for all encoders
+     * This parameter will NOT be retained across power cycles, unless
+     * you call {@link #saveParametersToFlash()} ()}
+     * @param intvlms the sample intervals in milliseconds
+     */
+    void setAllVelocitySampleIntervals(int[] intvlms);
+
+    /**
+     * Reads all velocity sample intervals from the OctoQuad
+     * @return all velocity sample intervals from the OctoQuad
+     */
+    int[] getAllVelocitySampleIntervals();
+
+    class ChannelPulseWidthParams
+    {
+        public int min_length_us;
+        public int max_length_us;
+
+        public ChannelPulseWidthParams() {};
+
+        public ChannelPulseWidthParams(int min_length_us, int max_length_us)
+        {
+            this.min_length_us = min_length_us;
+            this.max_length_us = max_length_us;
+        }
+    }
+
+    /**
+     * Configure the minimum/maximum pulse width reported by an absolute encoder
+     * which is connected to a given channel, to allow the ability to provide
+     * accurate velocity data.
+     * These parameters will NOT be retained across power cycles, unless
+     * you call {@link #saveParametersToFlash()} ()}
+     * @param idx the channel in question
+     * @param params minimum/maximum pulse width
+     */
+    void setSingleChannelPulseWidthParams(int idx, ChannelPulseWidthParams params);
+
+    /**
+     * Queries the OctoQuad to determine the currently set minimum/maxiumum pulse
+     * width for an encoder channel, to allow sane velocity data.
+     * @param idx the channel in question
+     * @return minimum/maximum pulse width
+     */
+    ChannelPulseWidthParams getSingleChannelPulseWidthParams(int idx);
+}
+