Package edu.wpi.first.wpilibj

Class DutyCycle

java.lang.Object

edu.wpi.first.wpilibj.DutyCycle

All Implemented Interfaces:

Sendable, AutoCloseable

public class DutyCycle
extends Object
implements Sendable, AutoCloseable

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 Summary

Constructors

Constructor	Description
DutyCycle(DigitalSource digitalSource)	Constructs a DutyCycle input from a DigitalSource input.

Method Summary

Modifier and Type	Method	Description
void	close()	Close the DutyCycle and free all resources.
int	getFPGAIndex()	Get the FPGA index for the DutyCycle.
int	getFrequency()	Get the frequency of the duty cycle signal.
int	getHighTimeNanoseconds()	Get the raw high time of the duty cycle signal.
double	getOutput()	Get the output ratio of the duty cycle signal.
int	getOutputScaleFactor()	Get the scale factor of the output.
int	getSourceChannel()
void	initSendable(SendableBuilder builder)	Initializes this Sendable object.

Methods inherited from class java.lang.Object

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

Constructor Details

DutyCycle

public DutyCycle(DigitalSource digitalSource)

Constructs a DutyCycle input from a DigitalSource input.

This class does not own the inputted source.

Parameters:

digitalSource - The DigitalSource to use.

Method Details

close

public void close()

Close the DutyCycle and free all resources.

Specified by:

close in interface AutoCloseable

getFrequency

public int getFrequency()

Get the frequency of the duty cycle signal.

Returns:

frequency in Hertz

getOutput

public double getOutput()

Get the output ratio of the duty cycle signal.

0 means always low, 1 means always high.

Returns:

output ratio between 0 and 1

getHighTimeNanoseconds

public int getHighTimeNanoseconds()

Get the raw high time of the duty cycle signal.

Returns:

high time of last pulse in nanoseconds

getOutputScaleFactor

public int getOutputScaleFactor()

Get the scale factor of the output.

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

Returns:

the output scale factor

getFPGAIndex

public final int getFPGAIndex()

Get the FPGA index for the DutyCycle.

Returns:

the FPGA index

getSourceChannel

public int getSourceChannel()

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder