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frc::DigitalOutput Class Reference

Class to write to digital outputs. More...

#include <DigitalOutput.h>

Inheritance diagram for frc::DigitalOutput:
frc::ErrorBase frc::SendableBase frc::Sendable

Public Member Functions

 DigitalOutput (int channel)
 Create an instance of a digital output. More...
 
 DigitalOutput (DigitalOutput &&rhs)
 
DigitalOutputoperator= (DigitalOutput &&rhs)
 
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...
 
int GetChannel () const
 
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 InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Public Member Functions inherited from frc::ErrorBase
 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...
 
- Public Member Functions inherited from frc::SendableBase
 SendableBase (bool addLiveWindow=true)
 Creates an instance of the sensor base. More...
 
 SendableBase (SendableBase &&rhs)
 
SendableBaseoperator= (SendableBase &&rhs)
 
std::string GetName () const final
 Gets the name of this Sendable object. More...
 
void SetName (const wpi::Twine &name) final
 Sets the name of this Sendable object. More...
 
std::string GetSubsystem () const final
 Gets the subsystem name of this Sendable object. More...
 
void SetSubsystem (const wpi::Twine &subsystem) final
 Sets the subsystem name of this Sendable object. More...
 
- Public Member Functions inherited from frc::Sendable
 Sendable (Sendable &&)=default
 
Sendableoperator= (Sendable &&)=default
 
void SetName (const wpi::Twine &subsystem, const wpi::Twine &name)
 Sets both the subsystem name and device name of this Sendable object. More...
 

Additional Inherited Members

- 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 const ErrorGetGlobalError ()
 Retrieve the current global error.
 
- Protected Member Functions inherited from frc::SendableBase
void AddChild (std::shared_ptr< Sendable > child)
 Add a child component. More...
 
void AddChild (void *child)
 Add a child component. More...
 
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...
 
- 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

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

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.

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]
bool frc::DigitalOutput::Get ( ) const

Gets the value being output from the Digital Output.

Returns
the state of the digital output.
int frc::DigitalOutput::GetChannel ( ) const
Returns
The GPIO channel number that this object represents.
void frc::DigitalOutput::InitSendable ( SendableBuilder builder)
overridevirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.

bool frc::DigitalOutput::IsPulsing ( ) const

Determine if the pulse is still going.

Determine if a previously started pulse is still going.

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
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
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.
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: