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

Class to read a duty cycle PWM input. More...

#include <DutyCycle.h>

Inheritance diagram for frc::DutyCycle:
frc::ErrorBase frc::Sendable frc::SendableHelper< DutyCycle >

Public Member Functions

 DutyCycle (DigitalSource &source)
 Constructs a DutyCycle input from a DigitalSource input. More...
 
 DutyCycle (DigitalSource *source)
 Constructs a DutyCycle input from a DigitalSource input. More...
 
 DutyCycle (std::shared_ptr< DigitalSource > source)
 Constructs a DutyCycle input from a DigitalSource input. More...
 
 ~DutyCycle () override
 Close the DutyCycle and free all resources.
 
 DutyCycle (DutyCycle &&)=default
 
DutyCycleoperator= (DutyCycle &&)=default
 
int GetFrequency () const
 Get the frequency of the duty cycle signal. More...
 
double GetOutput () const
 Get the output ratio of the duty cycle signal. More...
 
unsigned int GetOutputRaw () const
 Get the raw output ratio of the duty cycle signal. More...
 
unsigned int GetOutputScaleFactor () const
 Get the scale factor of the output. More...
 
int GetFPGAIndex () const
 Get the FPGA index for the DutyCycle. More...
 
int GetSourceChannel () const
 Get the channel of the source. 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< DutyCycle >
 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...
 

Protected Member Functions

void InitSendable (SendableBuilder &builder) override
 Initializes this Sendable object. More...
 
- Protected Member Functions inherited from frc::SendableHelper< DutyCycle >
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...
 

Friends

class AnalogTrigger
 
class DMA
 
class DMASample
 

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 Error GetGlobalError ()
 Retrieve the last global error.
 
static std::vector< ErrorGetGlobalErrors ()
 Retrieve all global errors.
 
- Protected Attributes inherited from frc::ErrorBase
Error m_error
 

Detailed Description

Class to read a duty cycle PWM input.

PWM input signals are specified with a frequency and a ratio of high to low in that frequency. There are 8 of these in the roboRIO, and they can be attached to any DigitalSource.

These can be combined as the input of an AnalogTrigger to a Counter in order to implement rollover checking.

Constructor & Destructor Documentation

◆ DutyCycle() [1/3]

frc::DutyCycle::DutyCycle ( DigitalSource source)
explicit

Constructs a DutyCycle input from a DigitalSource input.

This class does not own the inputted source.

Parameters
sourceThe DigitalSource to use.

◆ DutyCycle() [2/3]

frc::DutyCycle::DutyCycle ( DigitalSource source)
explicit

Constructs a DutyCycle input from a DigitalSource input.

This class does not own the inputted source.

Parameters
sourceThe DigitalSource to use.

◆ DutyCycle() [3/3]

frc::DutyCycle::DutyCycle ( std::shared_ptr< DigitalSource source)
explicit

Constructs a DutyCycle input from a DigitalSource input.

This class does not own the inputted source.

Parameters
sourceThe DigitalSource to use.

Member Function Documentation

◆ GetFPGAIndex()

int frc::DutyCycle::GetFPGAIndex ( ) const

Get the FPGA index for the DutyCycle.

Returns
the FPGA index

◆ GetFrequency()

int frc::DutyCycle::GetFrequency ( ) const

Get the frequency of the duty cycle signal.

Returns
frequency in Hertz

◆ GetOutput()

double frc::DutyCycle::GetOutput ( ) const

Get the output ratio of the duty cycle signal.

0 means always low, 1 means always high.

Returns
output ratio between 0 and 1

◆ GetOutputRaw()

unsigned int frc::DutyCycle::GetOutputRaw ( ) const

Get the raw output ratio of the duty cycle signal.

0 means always low, an output equal to GetOutputScaleFactor() means always high.

Returns
output ratio in raw units

◆ GetOutputScaleFactor()

unsigned int frc::DutyCycle::GetOutputScaleFactor ( ) const

Get the scale factor of the output.

An output equal to this value is always high, and then linearly scales down to 0. Divide the result of getOutputRaw by this in order to get the percentage between 0 and 1.

Returns
the output scale factor

◆ GetSourceChannel()

int frc::DutyCycle::GetSourceChannel ( ) const

Get the channel of the source.

Returns
the source channel

◆ InitSendable()

void frc::DutyCycle::InitSendable ( SendableBuilder builder)
overrideprotectedvirtual

Initializes this Sendable object.

Parameters
buildersendable builder

Implements frc::Sendable.


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