Potentiometer.cpp

// Potentiometer
// Basically an analog module, but with PID-ness.

#include "Everything.h"
#include "Potentiometer.h"

Potentiometer::Potentiometer(int channel, int turns)
	: m_channel(channel), m_turns(turns)
{
	
}

Potentiometer::Potentiometer(int module, int channel, int turns)
	: m_channel(module, channel), m_turns(turns)
{
	
}

Potentiometer::~Potentiometer()
{
	// Nothing.
}

void Potentiometer::ConfigureVoltageLimits(float rangeInVolts, float rangeInDeg)
{
	m_range_volts = rangeInVolts;
	m_range_degrees = rangeInDeg;
}

float Potentiometer::GetAngleInDegrees()
{
	return m_range_degrees * (GetVoltage() - 2.5) / (m_range_volts);
}

float Potentiometer::GetAngleInRadians()
{
	return GetAngleInDegrees() * kPi / 180.0; 
}

double Potentiometer::GetVoltage()
{
	return m_channel.GetAverageVoltage();
}

double Potentiometer::GetTurns()
{
	return (GetVoltage() / 5.0) * static_cast<double>(m_turns);
}

double Potentiometer::GetPosition()
{
	//return GetTurns();
	return PIDGet();
}

double Potentiometer::PIDGet()
{
	return GetAngleInDegrees();
	//return GetVoltage();
}