edu.wpi.first.wpilibj
Class SensorBase

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

Direct Known Subclasses:

Accelerometer, ADXL345_I2C, ADXL345_SPI, AnalogChannel, Compressor, Counter, DriverStationLCD, Encoder, Gyro, HiTechnicColorSensor, HiTechnicCompass, I2C, InterruptableSensorBase, Module, PWM, Relay, SolenoidBase, SPIDevice, Ultrasonic, Watchdog

public abstract class SensorBase
extends java.lang.Object

Base class for all sensors. Stores most recent status information as well as containing utility functions for checking channels and error processing.

Field Summary

static int	kAnalogChannels Number of analog channels per module
static int	kAnalogModules Number of analog modules
static int	kDigitalChannels Number of digital channels per digital sidecar
static int	kPwmChannels Number of PWM channels per sidecar
static int	kRelayChannels Number of relay channels per sidecar
static int	kSolenoidChannels Number of solenoid channels per module
static int	kSolenoidModules Number of analog modules
static int	kSystemClockTicksPerMicrosecond Ticks per microsecond

Constructor Summary

SensorBase()
Creates an instance of the sensor base and gets an FPGA handle

Method Summary

protected static void	checkAnalogChannel(int channel) Check that the analog channel number is value.
protected static void	checkAnalogModule(int moduleNumber) Check that the analog module number is valid.
protected static void	checkDigitalChannel(int channel) Check that the digital channel number is valid.
protected static void	checkDigitalModule(int moduleNumber) Check that the digital module number is valid.
protected static void	checkPWMChannel(int channel) Check that the digital channel number is valid.
protected static void	checkPWMModule(int moduleNumber) Check that the digital module number is valid.
protected static void	checkRelayChannel(int channel) Check that the digital channel number is valid.
protected static void	checkRelayModule(int moduleNumber) Check that the digital module number is valid.
protected static void	checkSolenoidChannel(int channel) Verify that the solenoid channel number is within limits.
protected static void	checkSolenoidModule(int moduleNumber) Verify that the solenoid module is correct.
void	free() Free the resources used by this object
static int	getDefaultAnalogModule() Get the number of the default analog module.
static int	getDefaultDigitalModule() Get the number of the default analog module.
static int	getDefaultSolenoidModule() Get the number of the default analog module.
static void	setDefaultAnalogModule(int moduleNumber) Sets the default Analog module.
static void	setDefaultDigitalModule(int moduleNumber) Sets the default Digital Module.
static void	setDefaultSolenoidModule(int moduleNumber) Set the default location for the Solenoid (9472) module.

Methods inherited from class java.lang.Object

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

Field Detail

kSystemClockTicksPerMicrosecond

public static final int kSystemClockTicksPerMicrosecond

Ticks per microsecond

See Also:

Constant Field Values

kDigitalChannels

public static final int kDigitalChannels

Number of digital channels per digital sidecar

See Also:

Constant Field Values

kAnalogChannels

public static final int kAnalogChannels

Number of analog channels per module

See Also:

Constant Field Values

kAnalogModules

public static final int kAnalogModules

Number of analog modules

See Also:

Constant Field Values

kSolenoidChannels

public static final int kSolenoidChannels

Number of solenoid channels per module

See Also:

Constant Field Values

kSolenoidModules

public static final int kSolenoidModules

Number of analog modules

See Also:

Constant Field Values

kPwmChannels

public static final int kPwmChannels

Number of PWM channels per sidecar

See Also:

Constant Field Values

kRelayChannels

public static final int kRelayChannels

Number of relay channels per sidecar

See Also:

Constant Field Values

Constructor Detail

SensorBase

public SensorBase()

Creates an instance of the sensor base and gets an FPGA handle

Method Detail

setDefaultDigitalModule

public static void setDefaultDigitalModule(int moduleNumber)

Sets the default Digital Module. This sets the default digital module to use for objects that are created without specifying the digital module in the constructor. The default module is initialized to the first module in the chassis.

Parameters:

moduleNumber - The number of the digital module to use.

setDefaultAnalogModule

public static void setDefaultAnalogModule(int moduleNumber)

Sets the default Analog module. This sets the default analog module to use for objects that are created without specifying the analog module in the constructor. The default module is initialized to the first module in the chassis.

Parameters:

moduleNumber - The number of the analog module to use.

setDefaultSolenoidModule

public static void setDefaultSolenoidModule(int moduleNumber)

Set the default location for the Solenoid (9472) module.

Parameters:

moduleNumber - The number of the solenoid module to use.

checkDigitalModule

protected static void checkDigitalModule(int moduleNumber)

Check that the digital module number is valid. Module numbers are 1 or 2 (they are no longer real cRIO slots).

Parameters:

moduleNumber - The digital module module number to check.

checkRelayModule

protected static void checkRelayModule(int moduleNumber)

Check that the digital module number is valid. Module numbers are 1 or 2 (they are no longer real cRIO slots).

Parameters:

moduleNumber - The digital module module number to check.

checkPWMModule

protected static void checkPWMModule(int moduleNumber)

Check that the digital module number is valid. Module numbers are 1 or 2 (they are no longer real cRIO slots).

Parameters:

moduleNumber - The digital module module number to check.

checkAnalogModule

protected static void checkAnalogModule(int moduleNumber)

Check that the analog module number is valid. Module numbers are 1 or 2 (they are no longer real cRIO slots).

Parameters:

moduleNumber - The analog module module number to check.

checkSolenoidModule

protected static void checkSolenoidModule(int moduleNumber)

Verify that the solenoid module is correct. Module numbers are 1 or 2 (they are no longer real cRIO slots).

Parameters:

moduleNumber - The solenoid module module number to check.

checkDigitalChannel

protected static void checkDigitalChannel(int channel)

Check that the digital channel number is valid. Verify that the channel number is one of the legal channel numbers. Channel numbers are 1-based.

Parameters:

channel - The channel number to check.

checkRelayChannel

protected static void checkRelayChannel(int channel)

Check that the digital channel number is valid. Verify that the channel number is one of the legal channel numbers. Channel numbers are 1-based.

Parameters:

channel - The channel number to check.

checkPWMChannel

protected static void checkPWMChannel(int channel)

Check that the digital channel number is valid. Verify that the channel number is one of the legal channel numbers. Channel numbers are 1-based.

Parameters:

channel - The channel number to check.

checkAnalogChannel

protected static void checkAnalogChannel(int channel)

Check that the analog channel number is value. Verify that the analog channel number is one of the legal channel numbers. Channel numbers are 1-based.

Parameters:

channel - The channel number to check.

checkSolenoidChannel

protected static void checkSolenoidChannel(int channel)

Verify that the solenoid channel number is within limits. Channel numbers are 1-based.

Parameters:

channel - The channel number to check.

getDefaultAnalogModule

public static int getDefaultAnalogModule()

Get the number of the default analog module.

Returns:

The number of the default analog module.

getDefaultDigitalModule

public static int getDefaultDigitalModule()

Get the number of the default analog module.

Returns:

The number of the default analog module.

getDefaultSolenoidModule

public static int getDefaultSolenoidModule()

Get the number of the default analog module.

Returns:

The number of the default analog module.

free

public void free()

Free the resources used by this object