WPILibC++  2020.3.2-60-g3011ebe
frc::DigitalOutput Class Reference

Class to write to digital outputs. More...

#include <DigitalOutput.h>

Inheritance diagram for frc::DigitalOutput:
frc::DigitalSource frc::Sendable frc::SendableHelper< DigitalOutput > frc::InterruptableSensorBase frc::ErrorBase

Public Member Functions

 DigitalOutput (int channel)
 Create an instance of a digital output. More...
 
 DigitalOutput (DigitalOutput &&)=default
 
DigitalOutputoperator= (DigitalOutput &&)=default
 
void Set (bool value)
 Set the value of a digital output. More...
 
bool Get () const
 Gets the value being output from the Digital Output. More...
 
HAL_Handle GetPortHandleForRouting () const override
 
AnalogTriggerType GetAnalogTriggerTypeForRouting () const override
 
bool IsAnalogTrigger () const override
 Is source an AnalogTrigger.
 
int GetChannel () const override
 
void Pulse (double length)
 Output a single pulse on the digital output line. More...
 
bool IsPulsing () const
 Determine if the pulse is still going. More...
 
void SetPWMRate (double rate)
 Change the PWM frequency of the PWM output on a Digital Output line. More...
 
void EnablePWM (double 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 (double dutyCycle)
 Change the duty-cycle that is being generated on the line. More...
 
void SetSimDevice (HAL_SimDeviceHandle device)
 Indicates this output is used by a simulated device. More...
 
void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc::DigitalSource
 DigitalSource (DigitalSource &&)=default
 
DigitalSourceoperator= (DigitalSource &&)=default
 
- Public Member Functions inherited from frc::InterruptableSensorBase
virtual ~InterruptableSensorBase ()
 Free the resources for an interrupt event.
 
 InterruptableSensorBase (InterruptableSensorBase &&)=default
 
InterruptableSensorBaseoperator= (InterruptableSensorBase &&)=default
 
virtual void RequestInterrupts (HAL_InterruptHandlerFunction handler, void *param)
 Request one of the 8 interrupts asynchronously on this digital input. More...
 
virtual void RequestInterrupts (InterruptEventHandler handler)
 Request one of the 8 interrupts asynchronously on this digital input. More...
 
virtual void RequestInterrupts ()
 Request one of the 8 interrupts synchronously on this digital input. More...
 
virtual void CancelInterrupts ()
 Cancel interrupts on this device. More...
 
virtual WaitResult WaitForInterrupt (double timeout, bool ignorePrevious=true)
 In synchronous mode, wait for the defined interrupt to occur. More...
 
virtual void EnableInterrupts ()
 Enable interrupts to occur on this input. More...
 
virtual void DisableInterrupts ()
 Disable Interrupts without without deallocating structures.
 
virtual double ReadRisingTimestamp ()
 Return the timestamp for the rising interrupt that occurred most recently. More...
 
virtual double ReadFallingTimestamp ()
 Return the timestamp for the falling interrupt that occurred most recently. More...
 
virtual void SetUpSourceEdge (bool risingEdge, bool fallingEdge)
 Set which edge to trigger interrupts on. More...
 
- Public Member Functions inherited from frc::ErrorBase
 ErrorBase (const ErrorBase &)=default
 
ErrorBaseoperator= (const ErrorBase &)=default
 
 ErrorBase (ErrorBase &&)=default
 
ErrorBaseoperator= (ErrorBase &&)=default
 
virtual ErrorGetError ()
 Retrieve the current error. More...
 
virtual const ErrorGetError () const
 Retrieve the current error. More...
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual void SetErrnoError (const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int 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, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const wpi::Twine &errorMessage, Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (const ErrorBase &rhs) const
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 
void ClearGlobalErrors ()
 Clear global errors.
 
- Public Member Functions inherited from frc::SendableHelper< DigitalOutput >
 SendableHelper (const SendableHelper &rhs)=default
 
 SendableHelper (SendableHelper &&rhs)
 
SendableHelperoperator= (const SendableHelper &rhs)=default
 
SendableHelperoperator= (SendableHelper &&rhs)
 
std::string GetName () const
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name)
 Sets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 
std::string GetSubsystem () const
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem)
 Sets the subsystem name of this Sendable object. More...
 

Additional Inherited Members

- Public Types inherited from frc::InterruptableSensorBase
enum  WaitResult { kTimeout = 0x0, kRisingEdge = 0x1, kFallingEdge = 0x100, kBoth = 0x101 }
 
using InterruptEventHandler = std::function< void(WaitResult)>
 Handler for interrupts. More...
 
- Static Public Member Functions inherited from frc::ErrorBase
static void SetGlobalError (Error::Code code, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static void SetGlobalWPIError (const wpi::Twine &errorMessage, const wpi::Twine &contextMessage, wpi::StringRef filename, wpi::StringRef function, int lineNumber)
 
static Error GetGlobalError ()
 Retrieve the last global error.
 
static std::vector< ErrorGetGlobalErrors ()
 Retrieve all global errors.
 
- Protected Member Functions inherited from frc::InterruptableSensorBase
void AllocateInterrupts (bool watcher)
 
- Protected Member Functions inherited from frc::SendableHelper< DigitalOutput >
void SetName (const wpi::Twine &moduleType, int channel)
 Sets the name of the sensor with a channel number. More...
 
void SetName (const wpi::Twine &moduleType, int moduleNumber, int channel)
 Sets the name of the sensor with a module and channel number. More...
 
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
- Protected Attributes inherited from frc::InterruptableSensorBase
hal::Handle< HAL_InterruptHandle > m_interrupt
 
std::unique_ptr< InterruptEventHandlerm_interruptHandler {nullptr}
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

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()

frc::DigitalOutput::DigitalOutput ( int  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

◆ DisablePWM()

void frc::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.

◆ EnablePWM()

void frc::DigitalOutput::EnablePWM ( double  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]

◆ Get()

bool frc::DigitalOutput::Get ( ) const

Gets the value being output from the Digital Output.

Returns
the state of the digital output.

◆ GetAnalogTriggerTypeForRouting()

AnalogTriggerType frc::DigitalOutput::GetAnalogTriggerTypeForRouting ( ) const
overridevirtual
Returns
The type of analog trigger output to be used. 0 for Digitals

Implements frc::DigitalSource.

◆ GetChannel()

int frc::DigitalOutput::GetChannel ( ) const
overridevirtual
Returns
The GPIO channel number that this object represents.

Implements frc::DigitalSource.

◆ GetPortHandleForRouting()

HAL_Handle frc::DigitalOutput::GetPortHandleForRouting ( ) const
overridevirtual
Returns
The HAL Handle to the specified source.

Implements frc::DigitalSource.

◆ InitSendable()

void frc::DigitalOutput::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.

◆ IsPulsing()

bool frc::DigitalOutput::IsPulsing ( ) const

Determine if the pulse is still going.

Determine if a previously started pulse is still going.

◆ Pulse()

void frc::DigitalOutput::Pulse ( double  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 pulse length in seconds

◆ Set()

void frc::DigitalOutput::Set ( bool  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

◆ SetPWMRate()

void frc::DigitalOutput::SetPWMRate ( double  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.

◆ SetSimDevice()

void frc::DigitalOutput::SetSimDevice ( HAL_SimDeviceHandle  device)

Indicates this output is used by a simulated device.

Parameters
devicesimulated device handle

◆ UpdateDutyCycle()

void frc::DigitalOutput::UpdateDutyCycle ( double  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]

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