Package edu.wpi.first.hal

Class DIOJNI

java.lang.Object
edu.wpi.first.hal.JNIWrapper
edu.wpi.first.hal.DIOJNI
Direct Known Subclasses:
PWMJNI, RelayJNI
public class DIOJNI
extends JNIWrapper
Digital Input/Output (IO) JNI Functions.
See Also:
"hal/DIO.h"

  • Nested Class Summary

    Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper

    JNIWrapper.Helper

  • Constructor Summary

    Constructors 
    Constructor Description
    DIOJNI()  

  • Method Summary

    Modifier and Type Method Description
    static int allocateDigitalPWM()
    Allocates a DO PWM Generator.
    static boolean checkDIOChannel​(int channel)
    Checks if a DIO channel is valid.
    static void freeDigitalPWM​(int pwmGenerator)
    Frees the resource associated with a DO PWM generator.
    static void freeDIOPort​(int dioPortHandle)
    Frees a DIO port.
    static boolean getDIO​(int dioPortHandle)
    Reads a digital value from a DIO channel.
    static boolean getDIODirection​(int dioPortHandle)
    Reads the direction of a DIO channel.
    static short getLoopTiming()  
    static int initializeDIOPort​(int halPortHandle, boolean input)
    Creates a new instance of a digital port.
    static boolean isAnyPulsing()
    Checks if any DIO line is currently generating a pulse.
    static boolean isPulsing​(int dioPortHandle)
    Checks a DIO line to see if it is currently generating a pulse.
    static void pulse​(int dioPortHandle, double pulseLengthSeconds)
    Generates a single digital pulse.
    static void pulseMultiple​(long channelMask, double pulseLengthSeconds)
    Generates a single digital pulse on multiple channels.
    static void setDigitalPWMDutyCycle​(int pwmGenerator, double dutyCycle)
    Configures the duty-cycle of the PWM generator.
    static void setDigitalPWMOutputChannel​(int pwmGenerator, int channel)
    Configures which DO channel the PWM signal is output on.
    static void setDigitalPWMPPS​(int pwmGenerator, double dutyCycle)
    Configures the digital PWM to be a PPS signal with specified duty cycle.
    static void setDigitalPWMRate​(double rate)
    Changes the frequency of the DO PWM generator.
    static void setDIO​(int dioPortHandle, boolean value)
    Writes a digital value to a DIO channel.
    static void setDIODirection​(int dioPortHandle, boolean input)
    Sets the direction of a DIO channel.
    static void setDIOSimDevice​(int handle, int device)
    Indicates the DIO channel is used by a simulated device.

    Methods inherited from class edu.wpi.first.hal.JNIWrapper

    forceLoad, suppressUnused

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

  • Method Details

    • initializeDIOPort

      public static int initializeDIOPort​(int halPortHandle, boolean input)
      Creates a new instance of a digital port.
      Parameters:
      halPortHandle - the port handle to create from
      input - true for input, false for output
      Returns:
      the created digital handle
      See Also:
      "HAL_InitializeDIOPort"

    • checkDIOChannel

      public static boolean checkDIOChannel​(int channel)
      Checks if a DIO channel is valid.
      Parameters:
      channel - the channel number to check
      Returns:
      true if the channel is valid, otherwise false
      See Also:
      "HAL_CheckDIOChannel"

    • freeDIOPort

      public static void freeDIOPort​(int dioPortHandle)
      Frees a DIO port.
      Parameters:
      dioPortHandle - the DIO channel handle
      See Also:
      "HAL_FreeDIOPort"

    • setDIOSimDevice

      public static void setDIOSimDevice​(int handle, int device)
      Indicates the DIO channel is used by a simulated device.
      Parameters:
      handle - the DIO channel handle
      device - simulated device handle
      See Also:
      "HAL_SetDIOSimDevice"

    • setDIO

      public static void setDIO​(int dioPortHandle, boolean value)
      Writes a digital value to a DIO channel.
      Parameters:
      dioPortHandle - the digital port handle
      value - the state to set the digital channel (if it is configured as an output)
      See Also:
      "HAL_SetDIO"

    • setDIODirection

      public static void setDIODirection​(int dioPortHandle, boolean input)
      Sets the direction of a DIO channel.
      Parameters:
      dioPortHandle - the digital port handle
      input - true to set input, false for output
      See Also:
      "HAL_SetDIODirection"

    • getDIO

      public static boolean getDIO​(int dioPortHandle)
      Reads a digital value from a DIO channel.
      Parameters:
      dioPortHandle - the digital port handle
      Returns:
      the state of the specified channel
      See Also:
      "HAL_GetDIO"

    • getDIODirection

      public static boolean getDIODirection​(int dioPortHandle)
      Reads the direction of a DIO channel.
      Parameters:
      dioPortHandle - the digital port handle
      Returns:
      true for input, false for output
      See Also:
      "HAL_GetDIODirection"

    • pulse

      public static void pulse​(int dioPortHandle, double pulseLengthSeconds)
      Generates a single digital pulse.

      Write a pulse to the specified digital output channel. There can only be a single pulse going at any time.

      Parameters:
      dioPortHandle - the digital port handle
      pulseLengthSeconds - the active length of the pulse (in seconds)
      See Also:
      "HAL_Pulse"

    • pulseMultiple

      public static void pulseMultiple​(long channelMask, double pulseLengthSeconds)
      Generates a single digital pulse on multiple channels.

      Write a pulse to the channels enabled by the mask. There can only be a single pulse going at any time.

      Parameters:
      channelMask - the channel mask
      pulseLengthSeconds - the active length of the pulse (in seconds)
      See Also:
      "HAL_PulseMultiple"

    • isPulsing

      public static boolean isPulsing​(int dioPortHandle)
      Checks a DIO line to see if it is currently generating a pulse.
      Parameters:
      dioPortHandle - the digital port handle
      Returns:
      true if a pulse is in progress, otherwise false
      See Also:
      "HAL_IsPulsing"

    • isAnyPulsing

      public static boolean isAnyPulsing()
      Checks if any DIO line is currently generating a pulse.
      Returns:
      true if a pulse on some line is in progress
      See Also:
      "HAL_IsAnyPulsing"

    • getLoopTiming

      public static short getLoopTiming()

    • allocateDigitalPWM

      public static int allocateDigitalPWM()
      Allocates a DO PWM Generator.
      Returns:
      the allocated digital PWM handle

    • freeDigitalPWM

      public static void freeDigitalPWM​(int pwmGenerator)
      Frees the resource associated with a DO PWM generator.
      Parameters:
      pwmGenerator - the digital PWM handle
      See Also:
      "HAL_FreeDigitalPWM"

    • setDigitalPWMRate

      public static void setDigitalPWMRate​(double rate)
      Changes the frequency of the DO PWM generator.

      The valid range is from 0.6 Hz to 19 kHz.

      The frequency resolution is logarithmic.

      Parameters:
      rate - the frequency to output all digital output PWM signals
      See Also:
      "HAL_SetDigitalPWMRate"

    • setDigitalPWMDutyCycle

      public static void setDigitalPWMDutyCycle​(int pwmGenerator, double dutyCycle)
      Configures the duty-cycle of the PWM generator.
      Parameters:
      pwmGenerator - the digital PWM handle
      dutyCycle - the percent duty cycle to output [0..1]
      See Also:
      "HAL_SetDigitalPWMDutyCycle"

    • setDigitalPWMPPS

      public static void setDigitalPWMPPS​(int pwmGenerator, double dutyCycle)
      Configures the digital PWM to be a PPS signal with specified duty cycle.
      Parameters:
      pwmGenerator - the digital PWM handle
      dutyCycle - the percent duty cycle to output [0..1]
      See Also:
      "HAL_SetDigitalPWMPPS"

    • setDigitalPWMOutputChannel

      public static void setDigitalPWMOutputChannel​(int pwmGenerator, int channel)
      Configures which DO channel the PWM signal is output on.
      Parameters:
      pwmGenerator - the digital PWM handle
      channel - the channel to output on
      See Also:
      "HAL_SetDigitalPWMOutputChannel"