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DigitalOutput Class Reference

Class to write to digital outputs. More...

#include <DigitalOutput.h>

Inheritance diagram for DigitalOutput:
DigitalSource ITableListener LiveWindowSendable InterruptableSensorBase Sendable SensorBase ErrorBase

Public Member Functions

 DigitalOutput (uint32_t channel)
 Create an instance of a digital output. More...
 
virtual ~DigitalOutput ()
 Free the resources associated with a digital output.
 
void Set (uint32_t value)
 Set the value of a digital output. More...
 
uint32_t GetChannel () const
 
void Pulse (float length)
 Output a single pulse on the digital output line. More...
 
bool IsPulsing () const
 Determine if the pulse is still going. More...
 
void SetPWMRate (float rate)
 Change the PWM frequency of the PWM output on a Digital Output line. More...
 
void EnablePWM (float initialDutyCycle)
 Enable a PWM Output on this line. More...
 
void DisablePWM ()
 Change this line from a PWM output back to a static Digital Output line. More...
 
void UpdateDutyCycle (float dutyCycle)
 Change the duty-cycle that is being generated on the line. More...
 
virtual uint32_t GetChannelForRouting () const
 
virtual uint32_t GetModuleForRouting () const
 
virtual bool GetAnalogTriggerForRouting () const
 
virtual void ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew)
 Called when a key-value pair is changed in a ITable. More...
 
void UpdateTable ()
 Update the table for this sendable object with the latest values.
 
void StartLiveWindowMode ()
 Start having this sendable object automatically respond to value changes reflect the value on the table.
 
void StopLiveWindowMode ()
 Stop having this sendable object automatically respond to value changes.
 
std::string GetSmartDashboardType () const
 
void InitTable (std::shared_ptr< ITable > subTable)
 Initializes a table for this sendable object. More...
 
std::shared_ptr< ITableGetTable () const
 
- Public Member Functions inherited from InterruptableSensorBase
virtual void RequestInterrupts (InterruptHandlerFunction handler, void *param)
 Asynchronus handler version. More...
 
virtual void RequestInterrupts ()
 Synchronus Wait version. More...
 
virtual void CancelInterrupts ()
 Free up the underlying chipobject functions. More...
 
virtual WaitResult WaitForInterrupt (float timeout, bool ignorePrevious=true)
 Synchronus version. More...
 
virtual void EnableInterrupts ()
 Enable interrupts - after finishing setup. More...
 
virtual void DisableInterrupts ()
 Disable, but don't deallocate. More...
 
virtual double ReadRisingTimestamp ()
 Return the timestamp for the rising interrupt that occurred. More...
 
virtual double ReadFallingTimestamp ()
 Return the timestamp for the falling interrupt that occurred. More...
 
virtual void SetUpSourceEdge (bool risingEdge, bool fallingEdge)
 Set which edge to trigger interrupts on. More...
 
- Public Member Functions inherited from SensorBase
 SensorBase ()
 Creates an instance of the sensor base and gets an FPGA handle.
 
 SensorBase (const SensorBase &)=delete
 
SensorBaseoperator= (const SensorBase &)=delete
 
- Public Member Functions inherited from ErrorBase
 ErrorBase (const ErrorBase &)=delete
 
ErrorBaseoperator= (const ErrorBase &)=delete
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
- Public Member Functions inherited from ITableListener
virtual void ValueChangedEx (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, unsigned int flags)
 Extended version of ValueChanged. More...
 

Additional Inherited Members

- Public Types inherited from InterruptableSensorBase
enum  WaitResult { kTimeout = 0x0, kRisingEdge = 0x1, kFallingEdge = 0x100, kBoth = 0x101 }
 
- Static Public Member Functions inherited from SensorBase
static void DeleteSingletons ()
 Delete all the singleton classes on the list. More...
 
static uint32_t GetDefaultSolenoidModule ()
 
static bool CheckSolenoidModule (uint8_t moduleNumber)
 Check that the solenoid module number is valid. More...
 
static bool CheckDigitalChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckRelayChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckPWMChannel (uint32_t channel)
 Check that the digital channel number is valid. More...
 
static bool CheckAnalogInput (uint32_t channel)
 Check that the analog input number is value. More...
 
static bool CheckAnalogOutput (uint32_t channel)
 Check that the analog output number is valid. More...
 
static bool CheckSolenoidChannel (uint32_t channel)
 Verify that the solenoid channel number is within limits. More...
 
static bool CheckPDPChannel (uint32_t channel)
 Verify that the power distribution channel number is within limits. More...
 
- Static Public Member Functions inherited from ErrorBase
static void SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static void SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)
 
static ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Static Public Attributes inherited from SensorBase
static const uint32_t kDigitalChannels = 26
 
static const uint32_t kAnalogInputs = 8
 
static const uint32_t kAnalogOutputs = 2
 
static const uint32_t kSolenoidChannels = 8
 
static const uint32_t kSolenoidModules = 2
 
static const uint32_t kPwmChannels = 20
 
static const uint32_t kRelayChannels = 8
 
static const uint32_t kPDPChannels = 16
 
static const uint32_t kChassisSlots = 8
 
- Protected Member Functions inherited from InterruptableSensorBase
void AllocateInterrupts (bool watcher)
 
- Protected Member Functions inherited from SensorBase
void AddToSingletonList ()
 Add sensor to the singleton list. More...
 
- Protected Attributes inherited from InterruptableSensorBase
void * m_interrupt = nullptr
 
uint32_t m_interruptIndex = std::numeric_limits<uint32_t>::max()
 
- Protected Attributes inherited from ErrorBase
Error m_error
 
- Static Protected Attributes inherited from InterruptableSensorBase
static std::unique_ptr< Resourcem_interrupts
 
- Static Protected Attributes inherited from SensorBase
static void * m_digital_ports [kDigitalChannels]
 
static void * m_relay_ports [kRelayChannels]
 
static void * m_pwm_ports [kPwmChannels]
 
- Static Protected Attributes inherited from ErrorBase
static priority_mutex _globalErrorMutex
 
static Error _globalError
 

Detailed Description

Class to write to digital outputs.

Write values to the digital output channels. Other devices implemented elsewhere will allocate channels automatically so for those devices it shouldn't be done here.

Constructor & Destructor Documentation

DigitalOutput::DigitalOutput ( uint32_t  channel)
explicit

Create an instance of a digital output.

Create a digital output given a channel.

Parameters
channelThe digital channel 0-9 are on-board, 10-25 are on the MXP port

Member Function Documentation

void DigitalOutput::DisablePWM ( )

Change this line from a PWM output back to a static Digital Output line.

Free up one of the 6 DO PWM generator resources that were in use.

void DigitalOutput::EnablePWM ( float  initialDutyCycle)

Enable a PWM Output on this line.

Allocate one of the 6 DO PWM generator resources from this module.

Supply the initial duty-cycle to output so as to avoid a glitch when first starting.

The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) but is reduced the higher the frequency of the PWM signal is.

Parameters
initialDutyCycleThe duty-cycle to start generating. [0..1]
bool DigitalOutput::GetAnalogTriggerForRouting ( ) const
virtual
Returns
The value to be written to the analog trigger field of a routing mux.

Implements DigitalSource.

uint32_t DigitalOutput::GetChannel ( ) const
Returns
The GPIO channel number that this object represents.
uint32_t DigitalOutput::GetChannelForRouting ( ) const
virtual
Returns
The value to be written to the channel field of a routing mux.

Implements DigitalSource.

uint32_t DigitalOutput::GetModuleForRouting ( ) const
virtual
Returns
The value to be written to the module field of a routing mux.

Implements DigitalSource.

std::string DigitalOutput::GetSmartDashboardType ( ) const
virtual
Returns
the string representation of the named data type that will be used by the smart dashboard for this sendable

Implements Sendable.

std::shared_ptr< ITable > DigitalOutput::GetTable ( ) const
virtual
Returns
the table that is currently associated with the sendable

Implements Sendable.

void DigitalOutput::InitTable ( std::shared_ptr< ITable subtable)
virtual

Initializes a table for this sendable object.

Parameters
subtableThe table to put the values in.

Implements Sendable.

bool DigitalOutput::IsPulsing ( ) const

Determine if the pulse is still going.

Determine if a previously started pulse is still going.

void DigitalOutput::Pulse ( float  length)

Output a single pulse on the digital output line.

Send a single pulse on the digital output line where the pulse duration is specified in seconds. Maximum pulse length is 0.0016 seconds.

Parameters
lengthThe pulselength in seconds
void DigitalOutput::Set ( uint32_t  value)

Set the value of a digital output.

Set the value of a digital output to either one (true) or zero (false).

Parameters
value1 (true) for high, 0 (false) for disabled
void DigitalOutput::SetPWMRate ( float  rate)

Change the PWM frequency of the PWM output on a Digital Output line.

The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is logarithmic.

There is only one PWM frequency for all digital channels.

Parameters
rateThe frequency to output all digital output PWM signals.
void DigitalOutput::UpdateDutyCycle ( float  dutyCycle)

Change the duty-cycle that is being generated on the line.

The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) but is reduced the higher the frequency of the PWM signal is.

Parameters
dutyCycleThe duty-cycle to change to. [0..1]
void DigitalOutput::ValueChanged ( ITable source,
llvm::StringRef  key,
std::shared_ptr< nt::Value value,
bool  isNew 
)
virtual

Called when a key-value pair is changed in a ITable.

Parameters
sourcethe table the key-value pair exists in
keythe key associated with the value that changed
valuethe new value
isNewtrue if the key did not previously exist in the table, otherwise it is false

Implements ITableListener.


The documentation for this class was generated from the following files: