edu.wpi.first.wpilibj
Class DigitalInput

java.lang.Object
  edu.wpi.first.wpilibj.SensorBase
      edu.wpi.first.wpilibj.InterruptableSensorBase
          edu.wpi.first.wpilibj.DigitalSource
              edu.wpi.first.wpilibj.DigitalInput

All Implemented Interfaces:

LiveWindowSendable, IDevice, IInputOutput, Sendable

public class DigitalInput
extends DigitalSource
implements IInputOutput, LiveWindowSendable

Class to read a digital input. This class will read digital inputs and return the current value on the channel. Other devices such as encoders, gear tooth sensors, etc. that are implemented elsewhere will automatically allocate digital inputs and outputs as required. This class is only for devices like switches etc. that aren't implemented anywhere else.

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.InterruptableSensorBase

interrupts, m_interrupt, m_interruptIndex, m_manager

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogChannels, kAnalogModules, kDigitalChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond

Constructor Summary

DigitalInput(int channel)
Create an instance of a Digital Input class.

DigitalInput(int moduleNumber, int channel)
Create an instance of a Digital Input class.

Method Summary

void	free() Free the resources used by this object
boolean	get() Get the value from a digital input channel.
boolean	getAnalogTriggerForRouting() Is this an analog trigger
int	getChannel() Get the channel of the digital input
int	getChannelForRouting() Get the channel routing number
int	getModuleForRouting() Get the module routing number
java.lang.String	getSmartDashboardType()
ITable	getTable()
void	initTable(ITable subtable) Initializes a table for this sendable object.
void	requestInterrupts() Request interrupts synchronously on this digital input.
void	requestInterrupts(java.lang.Object handler, java.lang.Object param) Request interrupts asynchronously on this digital input.
void	setUpSourceEdge(boolean risingEdge, boolean fallingEdge) Set which edge to trigger interrupts on
void	startLiveWindowMode() Start having this sendable object automatically respond to value changes reflect the value on the table.
void	stopLiveWindowMode() Stop having this sendable object automatically respond to value changes.
void	updateTable() Update the table for this sendable object with the latest values.

Methods inherited from class edu.wpi.first.wpilibj.InterruptableSensorBase

allocateInterrupts, cancelInterrupts, disableInterrupts, enableInterrupts, readInterruptTimestamp, waitForInterrupt

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogChannel, checkAnalogModule, checkDigitalChannel, checkDigitalModule, checkPWMChannel, checkPWMModule, checkRelayChannel, checkRelayModule, checkSolenoidChannel, checkSolenoidModule, getDefaultAnalogModule, getDefaultDigitalModule, getDefaultSolenoidModule, setDefaultAnalogModule, setDefaultDigitalModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

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

Constructor Detail

DigitalInput

public DigitalInput(int channel)

Create an instance of a Digital Input class. Creates a digital input given a channel and uses the default module.

Parameters:

channel - the port for the digital input

DigitalInput

public DigitalInput(int moduleNumber,
                    int channel)

Create an instance of a Digital Input class. Creates a digital input given an channel and module.

Parameters:

moduleNumber - The number of the digital module to use for this input

channel - the port for the digital input

Method Detail

free

public void free()

Description copied from class: SensorBase

Free the resources used by this object

Overrides:

free in class SensorBase

get

public boolean get()

Get the value from a digital input channel. Retrieve the value of a single digital input channel from the FPGA.

Returns:

the stats of the digital input

getChannel

public int getChannel()

Get the channel of the digital input

Returns:

The GPIO channel number that this object represents.

getChannelForRouting

public int getChannelForRouting()

Description copied from class: DigitalSource

Get the channel routing number

Specified by:

getChannelForRouting in class DigitalSource

Returns:

channel routing number

getModuleForRouting

public int getModuleForRouting()

Description copied from class: DigitalSource

Get the module routing number

Specified by:

getModuleForRouting in class DigitalSource

Returns:

module routing number

getAnalogTriggerForRouting

public boolean getAnalogTriggerForRouting()

Description copied from class: DigitalSource

Is this an analog trigger

Specified by:

getAnalogTriggerForRouting in class DigitalSource

Returns:

true if this is an analog trigger

requestInterrupts

public void requestInterrupts(java.lang.Object handler,
                              java.lang.Object param)

Request interrupts asynchronously on this digital input.

Parameters:

handler - The address of the interrupt handler function of type tInterruptHandler that will be called whenever there is an interrupt on the digitial input port. Request interrupts in synchronus mode where the user program interrupt handler will be called when an interrupt occurs. The default is interrupt on rising edges only.

param - argument to pass to the handler

requestInterrupts

public void requestInterrupts()

Request interrupts synchronously on this digital input. Request interrupts in synchronus mode where the user program will have to explicitly wait for the interrupt to occur. The default is interrupt on rising edges only.

setUpSourceEdge

public void setUpSourceEdge(boolean risingEdge,
                            boolean fallingEdge)

Set which edge to trigger interrupts on

Parameters:

risingEdge - true to interrupt on rising edge

fallingEdge - true to interrupt on falling edge

getSmartDashboardType

public java.lang.String getSmartDashboardType()

Specified by:

getSmartDashboardType in interface Sendable

Returns:

the string representation of the named data type that will be used by the smart dashboard for this sendable

initTable

public void initTable(ITable subtable)

Initializes a table for this sendable object.

Specified by:

initTable in interface Sendable

Parameters:

subtable - The table to put the values in.

updateTable

public void updateTable()

Update the table for this sendable object with the latest values.

Specified by:

updateTable in interface LiveWindowSendable

getTable

public ITable getTable()

Specified by:

getTable in interface Sendable

Returns:

the table that is currently associated with the sendable

startLiveWindowMode

public void startLiveWindowMode()

Start having this sendable object automatically respond to value changes reflect the value on the table.

Specified by:

startLiveWindowMode in interface LiveWindowSendable

stopLiveWindowMode

public void stopLiveWindowMode()

Stop having this sendable object automatically respond to value changes.

Specified by:

stopLiveWindowMode in interface LiveWindowSendable