edu.wpi.first.wpilibj
Class DriverStationEnhancedIO

java.lang.Object
  edu.wpi.first.wpilibj.DriverStationEnhancedIO

All Implemented Interfaces:

IDevice, IInputOutput

public class DriverStationEnhancedIO
extends java.lang.Object
implements IInputOutput

Nested Class Summary

static class	DriverStationEnhancedIO.EnhancedIOException
static class	DriverStationEnhancedIO.tAccelChannel Accelerometer channel for enhanced IO
static class	DriverStationEnhancedIO.tDigitalConfig Digital configuration for enhanced IO
static class	DriverStationEnhancedIO.tPWMPeriodChannels PWM period channels for enhanced IO

Field Summary

static double	kAccelOffset
static double	kAccelScale
static double	kAnalogInputReference
static double	kAnalogInputResolution
static double	kAnalogOutputReference
static double	kAnalogOutputResolution
static int	kSupportedAPIVersion

Method Summary

double	getAcceleration(DriverStationEnhancedIO.tAccelChannel channel) Query an accelerometer channel on the DS IO.
double	getAnalogIn(int channel) Query an analog input channel on the DS IO.
double	getAnalogInRatio(int channel) Query an analog input channel on the DS IO in ratiometric form.
double	getAnalogOut(int channel) Query the voltage currently being output.
boolean	getButton(int channel) Get the state of a button on the IO board.
byte	getButtons() Get the state of all the button channels.
boolean	getDigital(int channel) Get the current state of a DIO channel regardless of mode.
DriverStationEnhancedIO.tDigitalConfig	getDigitalConfig(int channel) Get the current configuration for a DIO line.
short	getDigitals() Get the state of all 16 DIO lines regardless of mode.
short	getEncoder(int encoderNumber) Get the position of a quadrature encoder.
boolean	getEncoderIndexEnable(int encoderNumber) Get the current configuration of a quadrature encoder index channel.
byte	getFirmwareVersion() Get the firmware version running on the IO board.
boolean	getFixedDigitalOutput(int channel) Get the state being output on a fixed digital output.
double	getPWMOutput(int channel) Get the percent duty-cycle that the PWM generator channel is configured to output.
double	getPWMPeriod(DriverStationEnhancedIO.tPWMPeriodChannels channels) Get the period of a PWM generator.
double	getTouchSlider() Get the value of the Capacitive Sense touch slider.
void	resetEncoder(int encoderNumber) Reset the position of an encoder to 0.
void	setAnalogOut(int channel, double value) Set the analog output voltage.
void	setDigitalConfig(int channel, DriverStationEnhancedIO.tDigitalConfig config) Override the DS's configuration of a DIO line.
void	setDigitalOutput(int channel, boolean value) Set the state of a DIO line that is configured for digital output.
void	setEncoderIndexEnable(int encoderNumber, boolean enable) Enable or disable the index channel of a quadrature encoder.
void	setFixedDigitalOutput(int channel, boolean value) Set the state to output on a Fixed High Current Digital Output line.
void	setLED(int channel, boolean value) Set the state of an LED on the IO board.
void	setLEDs(byte value) Set the state of all 8 LEDs on the IO board.
void	setPWMOutput(int channel, double value) Set the percent duty-cycle to output on a PWM enabled DIO line.
void	setPWMPeriod(DriverStationEnhancedIO.tPWMPeriodChannels channels, double period) Set the period of a PWM generator.

Methods inherited from class java.lang.Object

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

Field Detail

kAnalogInputResolution

public static final double kAnalogInputResolution

See Also:

Constant Field Values

kAnalogInputReference

public static final double kAnalogInputReference

See Also:

Constant Field Values

kAnalogOutputResolution

public static final double kAnalogOutputResolution

See Also:

Constant Field Values

kAnalogOutputReference

public static final double kAnalogOutputReference

See Also:

Constant Field Values

kAccelOffset

public static final double kAccelOffset

See Also:

Constant Field Values

kAccelScale

public static final double kAccelScale

See Also:

Constant Field Values

kSupportedAPIVersion

public static final int kSupportedAPIVersion

See Also:

Constant Field Values

Method Detail

getAcceleration

public double getAcceleration(DriverStationEnhancedIO.tAccelChannel channel)
                       throws DriverStationEnhancedIO.EnhancedIOException

Query an accelerometer channel on the DS IO.

Parameters:

channel - The channel number to read.

Returns:

The current acceleration on the channel in Gs.

Throws:

DriverStationEnhancedIO.EnhancedIOException

getAnalogIn

public double getAnalogIn(int channel)
                   throws DriverStationEnhancedIO.EnhancedIOException

Query an analog input channel on the DS IO.

Parameters:

channel - The channel number to read. [1,8]

Returns:

The analog input voltage for the channel.

Throws:

DriverStationEnhancedIO.EnhancedIOException

getAnalogInRatio

public double getAnalogInRatio(int channel)
                        throws DriverStationEnhancedIO.EnhancedIOException

Query an analog input channel on the DS IO in ratiometric form.

Parameters:

channel - The channel number to read. [1,8]

Returns:

The analog input percentage for the channel.

Throws:

DriverStationEnhancedIO.EnhancedIOException

getAnalogOut

public double getAnalogOut(int channel)
                    throws DriverStationEnhancedIO.EnhancedIOException

Query the voltage currently being output. AO1 is pin 11 on the top connector (P2). AO2 is pin 12 on the top connector (P2).

Parameters:

channel - The analog output channel on the DS IO. [1,2]

Returns:

The voltage being output on the channel.

Throws:

DriverStationEnhancedIO.EnhancedIOException

setAnalogOut

public void setAnalogOut(int channel,
                         double value)
                  throws DriverStationEnhancedIO.EnhancedIOException

Set the analog output voltage. AO1 is pin 11 on the top connector (P2). AO2 is pin 12 on the top connector (P2). AO1 is the reference voltage for the 2 analog comparators on DIO15 and DIO16. The output range is 0V to 4V, however due to the supply voltage don't expect more than about 3V. Current supply capability is only 100uA.

Parameters:

channel - The analog output channel on the DS IO. [1,2]

value - The voltage to output on the channel.

Throws:

DriverStationEnhancedIO.EnhancedIOException

getButton

public boolean getButton(int channel)
                  throws DriverStationEnhancedIO.EnhancedIOException

Get the state of a button on the IO board. Button1 is the physical button "S1". Button2 is pin 4 on the top connector (P2). Button3 is pin 6 on the top connector (P2). Button4 is pin 8 on the top connector (P2). Button5 is pin 10 on the top connector (P2). Button6 is pin 7 on the top connector (P2). Button2 through Button6 are Capacitive Sense buttons.

Parameters:

channel - The button channel to read. [1,6]

Returns:

The state of the selected button.

Throws:

DriverStationEnhancedIO.EnhancedIOException

getButtons

public byte getButtons()
                throws DriverStationEnhancedIO.EnhancedIOException

Get the state of all the button channels.

Returns:

The state of the 6 button channels in the 6 lsb of the returned byte.

Throws:

DriverStationEnhancedIO.EnhancedIOException

setLED

public void setLED(int channel,
                   boolean value)
            throws DriverStationEnhancedIO.EnhancedIOException

Set the state of an LED on the IO board.

Parameters:

channel - The LED channel to set. [1,8]

value - True to turn the LED on.

Throws:

DriverStationEnhancedIO.EnhancedIOException

setLEDs

public void setLEDs(byte value)
             throws DriverStationEnhancedIO.EnhancedIOException

Set the state of all 8 LEDs on the IO board.

Parameters:

value - The state of each LED. LED1 is lsb and LED8 is msb.

Throws:

DriverStationEnhancedIO.EnhancedIOException

getDigital

public boolean getDigital(int channel)
                   throws DriverStationEnhancedIO.EnhancedIOException

Get the current state of a DIO channel regardless of mode.

Parameters:

channel - The DIO channel to read. [1,16]

Returns:

The state of the selected digital line.

Throws:

DriverStationEnhancedIO.EnhancedIOException

getDigitals

public short getDigitals()
                  throws DriverStationEnhancedIO.EnhancedIOException

Get the state of all 16 DIO lines regardless of mode.

Returns:

The state of all DIO lines. DIO1 is lsb and DIO16 is msb.

Throws:

DriverStationEnhancedIO.EnhancedIOException

setDigitalOutput

public void setDigitalOutput(int channel,
                             boolean value)
                      throws DriverStationEnhancedIO.EnhancedIOException

Set the state of a DIO line that is configured for digital output.

Parameters:

channel - The DIO channel to set. [1,16]

value - The state to set the selected channel to.

Throws:

DriverStationEnhancedIO.EnhancedIOException

getDigitalConfig

public DriverStationEnhancedIO.tDigitalConfig getDigitalConfig(int channel)
                                                        throws DriverStationEnhancedIO.EnhancedIOException

Get the current configuration for a DIO line. This has the side effect of forcing the Driver Station to switch to Enhanced mode if it's not when called. If Enhanced mode is not enabled when this is called, it will return kUnknown.

Parameters:

channel - The DIO channel config to get. [1,16]

Returns:

The configured mode for the DIO line.

Throws:

DriverStationEnhancedIO.EnhancedIOException

setDigitalConfig

public void setDigitalConfig(int channel,
                             DriverStationEnhancedIO.tDigitalConfig config)
                      throws DriverStationEnhancedIO.EnhancedIOException

Override the DS's configuration of a DIO line. If configured to kInputFloating, the selected DIO line will be tri-stated with no internal pull resistor. If configured to kInputPullUp, the selected DIO line will be tri-stated with a 5k-Ohm internal pull-up resistor enabled. If configured to kInputPullDown, the selected DIO line will be tri-stated with a 5k-Ohm internal pull-down resistor enabled. If configured to kOutput, the selected DIO line will actively drive to 0V or Vddio (specified by J1 and J4). DIO1 through DIO12, DIO15, and DIO16 can source 4mA and can sink 8mA. DIO12 and DIO13 can source 4mA and can sink 25mA. In addition to the common configurations, DIO1 through DIO4 can be configured to kPWM to enable PWM output. In addition to the common configurations, DIO15 and DIO16 can be configured to kAnalogComparator to enable analog comparators on those 2 DIO lines. When enabled, the lines are tri-stated and will accept analog voltages between 0V and 3.3V. If the input voltage is greater than the voltage output by AO1, the DIO will read as true, if less then false.

Parameters:

channel - The DIO line to configure. [1,16]

config - The mode to put the DIO line in.

Throws:

DriverStationEnhancedIO.EnhancedIOException

getPWMPeriod

public double getPWMPeriod(DriverStationEnhancedIO.tPWMPeriodChannels channels)
                    throws DriverStationEnhancedIO.EnhancedIOException

Get the period of a PWM generator. This has the side effect of forcing the Driver Station to switch to Enhanced mode if it's not when called. If Enhanced mode is not enabled when this is called, it will return 0.

Parameters:

channels - Select the generator by specifying the two channels to which it is connected.

Returns:

The period of the PWM generator in seconds.

Throws:

DriverStationEnhancedIO.EnhancedIOException

setPWMPeriod

public void setPWMPeriod(DriverStationEnhancedIO.tPWMPeriodChannels channels,
                         double period)
                  throws DriverStationEnhancedIO.EnhancedIOException

Set the period of a PWM generator. There are 2 PWM generators on the IO board. One can generate PWM signals on DIO1 and DIO2, the other on DIO3 and DIO4. Each generator has one counter and two compare registers. As such, each pair of PWM outputs share the output period but have independent duty cycles.

Parameters:

channels - Select the generator by specifying the two channels to which it is connected.

period - The period of the PWM generator in seconds. [0.0,0.002731]

Throws:

DriverStationEnhancedIO.EnhancedIOException

getFixedDigitalOutput

public boolean getFixedDigitalOutput(int channel)
                              throws DriverStationEnhancedIO.EnhancedIOException

Get the state being output on a fixed digital output.

Parameters:

channel - The FixedDO line to get. [1,2]

Returns:

The state of the FixedDO line.

Throws:

DriverStationEnhancedIO.EnhancedIOException

setFixedDigitalOutput

public void setFixedDigitalOutput(int channel,
                                  boolean value)
                           throws DriverStationEnhancedIO.EnhancedIOException

Set the state to output on a Fixed High Current Digital Output line. FixedDO1 is pin 5 on the top connector (P2). FixedDO2 is pin 3 on the top connector (P2). The FixedDO lines always output 0V and 3.3V regardless of J1 and J4. They can source 4mA and can sink 25mA. Because of this, they are expected to be used in an active low configuration, such as connecting to the cathode of a bright LED. Because they are expected to be active low, they default to true.

Parameters:

channel - The FixedDO channel to set.

value - The state to set the FixedDO.

Throws:

DriverStationEnhancedIO.EnhancedIOException

getEncoder

public short getEncoder(int encoderNumber)
                 throws DriverStationEnhancedIO.EnhancedIOException

Get the position of a quadrature encoder. There are two signed 16-bit 4X quadrature decoders on the IO board. These decoders are always monitoring the state of the lines assigned to them, but these lines do not have to be used for encoders. Encoder1 uses DIO4 for "A", DIO6 for "B", and DIO8 for "Index". Encoder2 uses DIO5 for "A", DIO7 for "B", and DIO9 for "Index". The index functionality can be enabled or disabled using SetEncoderIndexEnable().

Parameters:

encoderNumber - The quadrature encoder to access. [1,2]

Returns:

The current position of the quadrature encoder.

Throws:

DriverStationEnhancedIO.EnhancedIOException

resetEncoder

public void resetEncoder(int encoderNumber)
                  throws DriverStationEnhancedIO.EnhancedIOException

Reset the position of an encoder to 0. This simply stores an offset locally. It does not reset the hardware counter on the IO board. If you use this method with Index enabled, you may get unexpected results.

Parameters:

encoderNumber - The quadrature encoder to reset. [1,2]

Throws:

DriverStationEnhancedIO.EnhancedIOException

getEncoderIndexEnable

public boolean getEncoderIndexEnable(int encoderNumber)
                              throws DriverStationEnhancedIO.EnhancedIOException

Get the current configuration of a quadrature encoder index channel. This has the side effect of forcing the Driver Station to switch to Enhanced mode if it's not when called. If Enhanced mode is not enabled when this is called, it will return false.

Parameters:

encoderNumber - The quadrature encoder. [1,2]

Returns:

Is the index channel of the encoder enabled.

Throws:

DriverStationEnhancedIO.EnhancedIOException

setEncoderIndexEnable

public void setEncoderIndexEnable(int encoderNumber,
                                  boolean enable)

Enable or disable the index channel of a quadrature encoder. The quadrature decoders on the IO board support an active-low index input. Encoder1 uses DIO8 for "Index". Encoder2 uses DIO9 for "Index". When enabled, the decoder's counter will be reset to 0 when A, B, and Index are all low.

Parameters:

encoderNumber - The quadrature encoder. [1,2]

enable - If true, reset the encoder in an index condition.

getTouchSlider

public double getTouchSlider()
                      throws DriverStationEnhancedIO.EnhancedIOException

Get the value of the Capacitive Sense touch slider.

Returns:

Value between 0.0 (toward center of board) and 1.0 (toward edge of board). -1.0 means no touch detected.

Throws:

DriverStationEnhancedIO.EnhancedIOException

getPWMOutput

public double getPWMOutput(int channel)
                    throws DriverStationEnhancedIO.EnhancedIOException

Get the percent duty-cycle that the PWM generator channel is configured to output.

Parameters:

channel - The DIO line's PWM generator to get the duty-cycle from. [1,4]

Returns:

The percent duty-cycle being output (if the DIO line is configured for PWM). [0.0,1.0]

Throws:

DriverStationEnhancedIO.EnhancedIOException

setPWMOutput

public void setPWMOutput(int channel,
                         double value)
                  throws DriverStationEnhancedIO.EnhancedIOException

Set the percent duty-cycle to output on a PWM enabled DIO line. DIO1 through DIO4 have the ability to output a PWM signal. The period of the signal can be configured in pairs using SetPWMPeriod().

Parameters:

channel - The DIO line's PWM generator to set. [1,4]

value - The percent duty-cycle to output from the PWM generator. [0.0,1.0]

Throws:

DriverStationEnhancedIO.EnhancedIOException

getFirmwareVersion

public byte getFirmwareVersion()
                        throws DriverStationEnhancedIO.EnhancedIOException

Get the firmware version running on the IO board. This also has the side effect of forcing the driver station to switch to Enhanced mode if it is not. If you plan to switch between Driver Stations with unknown IO configurations, you can call this until it returns a non-0 version to ensure that this API is accessible before proceeding.

Returns:

The version of the firmware running on the IO board. 0 if the board is not attached or not in Enhanced mode.

Throws:

DriverStationEnhancedIO.EnhancedIOException