Package edu.wpi.first.wpilibj.simulation

Class DutyCycleSim

java.lang.Object
edu.wpi.first.wpilibj.simulation.DutyCycleSim
public class DutyCycleSim
extends Object
Class to control a simulated duty cycle digital input.

  • Constructor Details

  • Method Details

    • createForChannel

      public static DutyCycleSim createForChannel​(int channel)
      Creates a DutyCycleSim for a digital input channel.
      Parameters:
      channel - digital input channel
      Returns:
      Simulated object
      Throws:
      NoSuchElementException - if no DutyCycle is configured for that channel

    • createForIndex

      public static DutyCycleSim createForIndex​(int index)
      Creates a DutyCycleSim for a simulated index. The index is incremented for each simulated DutyCycle.
      Parameters:
      index - simulator index
      Returns:
      Simulated object

    • registerInitializedCallback

      public CallbackStore registerInitializedCallback​(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run when this duty cycle input is initialized.
      Parameters:
      callback - the callback
      initialNotify - whether to run the callback with the initial state
      Returns:
      the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

    • getInitialized

      public boolean getInitialized()
      Check whether this duty cycle input has been initialized.
      Returns:
      true if initialized

    • setInitialized

      public void setInitialized​(boolean initialized)
      Define whether this duty cycle input has been initialized.
      Parameters:
      initialized - whether this object is initialized

    • registerFrequencyCallback

      public CallbackStore registerFrequencyCallback​(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the frequency changes.
      Parameters:
      callback - the callback
      initialNotify - whether to call the callback with the initial state
      Returns:
      the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

    • getFrequency

      public int getFrequency()
      Measure the frequency.
      Returns:
      the duty cycle frequency

    • setFrequency

      public void setFrequency​(int frequency)
      Change the duty cycle frequency.
      Parameters:
      frequency - the new frequency

    • registerOutputCallback

      public CallbackStore registerOutputCallback​(NotifyCallback callback, boolean initialNotify)
      Register a callback to be run whenever the output changes.
      Parameters:
      callback - the callback
      initialNotify - whether to call the callback with the initial state
      Returns:
      the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

    • getOutput

      public double getOutput()
      Measure the output from this duty cycle port.
      Returns:
      the output value

    • setOutput

      public void setOutput​(double output)
      Change the duty cycle output.
      Parameters:
      output - the new output value

    • resetData

      public void resetData()
      Reset all simulation data for the duty cycle output.