edu.wpi.first.wpilibj
Class DigitalOutput

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

All Implemented Interfaces:

LiveWindowSendable, IDevice, IInputOutput, Sendable

public class DigitalOutput
extends DigitalSource
implements IInputOutput, LiveWindowSendable

Class to write digital outputs. This class will wrtie digital outputs. Other devices that are implemented elsewhere will automatically allocate digital inputs and outputs as required.

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

DigitalOutput(int channel)
Create an instance of a digital output.

DigitalOutput(int moduleNumber, int channel)
Create an instance of a digital output.

Method Summary

void	disablePWM() Change this line from a PWM output back to a static Digital Output line.
void	enablePWM(double initialDutyCycle) Enable a PWM Output on this line.
void	free() Free the resources associated with a digital output.
boolean	getAnalogTriggerForRouting() Is this an analog trigger
int	getChannel()
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.
boolean	isPulsing() Determine if the pulse is still going.
void	pulse(double length) Output a single pulse on the digital output line.
void	set(boolean value) Set the value of a digital output.
void	setPWMRate(double rate) Change the PWM frequency of the PWM output on a Digital Output line.
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	updateDutyCycle(double dutyCycle) Change the duty-cycle that is being generated on the line.
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

DigitalOutput

public DigitalOutput(int moduleNumber,
                     int channel)

Create an instance of a digital output. Create an instance of a digital output given a module number and channel.

Parameters:

moduleNumber - The number of the digital module to use

channel - the port to use for the digital output

DigitalOutput

public DigitalOutput(int channel)

Create an instance of a digital output. Create a digital output given a channel. The default module is used.

Parameters:

channel - the port to use for the digital output

Method Detail

free

public void free()

Free the resources associated with a digital output.

Overrides:

free in class SensorBase

set

public void set(boolean value)

Set the value of a digital output.

Parameters:

value - true is on, off is false

getChannel

public int getChannel()

Returns:

The GPIO channel number that this object represents.

pulse

public void pulse(double length)

Output a single pulse on the digital output line. Send a single pulse on the digital output line where the pulse diration is specified in seconds. Maximum pulse length is 0.0016 seconds.

Parameters:

length - The pulselength in seconds

isPulsing

public boolean isPulsing()

Determine if the pulse is still going. Determine if a previously started pulse is still going.

Returns:

true if pulsing

setPWMRate

public void 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 per digital module.

Parameters:

rate - The frequency to output all digital output PWM signals on this module.

enablePWM

public void enablePWM(double initialDutyCycle)

Enable a PWM Output on this line. Allocate one of the 4 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:

initialDutyCycle - The duty-cycle to start generating. [0..1]

disablePWM

public void disablePWM()

Change this line from a PWM output back to a static Digital Output line. Free up one of the 4 DO PWM generator resources that were in use.

updateDutyCycle

public void 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:

dutyCycle - The duty-cycle to change to. [0..1]

getChannelForRouting

public int getChannelForRouting()

Description copied from class: DigitalSource

Get the channel routing number

Specified by:

getChannelForRouting in class DigitalSource

Returns:

The value to be written to the channel field of a routing mux.

getModuleForRouting

public int getModuleForRouting()

Description copied from class: DigitalSource

Get the module routing number

Specified by:

getModuleForRouting in class DigitalSource

Returns:

The value to be written to the module field of a routing mux.

getAnalogTriggerForRouting

public boolean getAnalogTriggerForRouting()

Description copied from class: DigitalSource

Is this an analog trigger

Specified by:

getAnalogTriggerForRouting in class DigitalSource

Returns:

The value to be written to the analog trigger field of a routing mux.

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.

getTable

public ITable getTable()

Specified by:

getTable in interface Sendable

Returns:

the table that is currently associated with the sendable

updateTable

public void updateTable()

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

Specified by:

updateTable in interface LiveWindowSendable

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