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, Sendable

public class DigitalOutput
extends DigitalSource
implements LiveWindowSendable

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

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.InterruptableSensorBase

InterruptableSensorBase.WaitResult

Field Summary

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

m_interrupt, m_isSynchronousInterrupt

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

kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPCMModules, kPDPChannels, kPDPModules, kPwmChannels, kRelayChannels, kSolenoidChannels, kSystemClockTicksPerMicrosecond

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
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	get() Gets the value being output from the Digital Output.
int	getAnalogTriggerTypeForRouting() Get the analog trigger type.
int	getChannel()
int	getPortHandleForRouting() Get the HAL Port Handle.
java.lang.String	getSmartDashboardType() The string representation of the named data type that will be used by the smart dashboard for this Sendable.
ITable	getTable() The table that is associated with this Sendable.
void	initTable(ITable subtable) Initializes a table for this Sendable object.
boolean	isAnalogTrigger() Is this an analog trigger.
boolean	isPulsing() Determine if the pulse is still going.
void	pulse(double pulseLength) Generate a single pulse.
void	pulse(int channel, double pulseLength) Deprecated. Use pulse(double) instead.
void	pulse(int channel, int pulseLength) Deprecated. Generate a single pulse. Write a pulse to the specified digital output channel. There can only be a single pulse going at any time.
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, readFallingTimestamp, readRisingTimestamp, requestInterrupts, requestInterrupts, setUpSourceEdge, waitForInterrupt, waitForInterrupt

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

checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPDPModule, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, getDefaultSolenoidModule, 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 channel)

Create an instance of a digital output. Create an instance of a digital output given a channel.

Parameters:

channel - the DIO channel to use for the digital output. 0-9 are on-board, 10-25 are on the MXP

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

get

public boolean get()

Gets the value being output from the Digital Output.

Returns:

the state of the digital output.

getChannel

public int getChannel()

Specified by:

getChannel in class DigitalSource

Returns:

The GPIO channel number that this object represents.

pulse

public void pulse(double pulseLength)

Generate a single pulse. There can only be a single pulse going at any time.

Parameters:

pulseLength - The length of the pulse.

pulse

@Deprecated
public void pulse(int channel,
                               double pulseLength)

Deprecated. Use pulse(double) instead.

Generate a single pulse. Write a pulse to the specified digital output channel. There can only be a single pulse going at any time.

Parameters:

channel - Unused

pulseLength - The length of the pulse.

pulse

@Deprecated
public void pulse(int channel,
                               int pulseLength)

Deprecated. Generate a single pulse. Write a pulse to the specified digital output channel. There can only be a single pulse going at any time.

Parameters:

channel - Unused

pulseLength - The length of the pulse.

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 for all channnels.

Parameters:

rate - The frequency to output all digital output PWM signals.

enablePWM

public void enablePWM(double initialDutyCycle)

Enable a PWM Output on this line.

Allocate one of the 6 DO PWM generator resources.

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 6 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]

getAnalogTriggerTypeForRouting

public int getAnalogTriggerTypeForRouting()

Get the analog trigger type.

Specified by:

getAnalogTriggerTypeForRouting in class InterruptableSensorBase

Returns:

false

isAnalogTrigger

public boolean isAnalogTrigger()

Is this an analog trigger.

Specified by:

isAnalogTrigger in class DigitalSource

Returns:

true if this is an analog trigger

getPortHandleForRouting

public int getPortHandleForRouting()

Get the HAL Port Handle.

Specified by:

getPortHandleForRouting in class InterruptableSensorBase

Returns:

The HAL Handle to the specified source.

getSmartDashboardType

public java.lang.String getSmartDashboardType()

Description copied from interface: Sendable

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

Specified by:

getSmartDashboardType in interface Sendable

Returns:

The type of this Sendable.

initTable

public void initTable(ITable subtable)

Description copied from interface: Sendable

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()

Description copied from interface: Sendable

The table that is associated with this Sendable.

Specified by:

getTable in interface Sendable

Returns:

the table that is currently associated with the Sendable.

updateTable

public void updateTable()

Description copied from interface: LiveWindowSendable

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

Specified by:

updateTable in interface LiveWindowSendable

startLiveWindowMode

public void startLiveWindowMode()

Description copied from interface: LiveWindowSendable

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()

Description copied from interface: LiveWindowSendable

Stop having this sendable object automatically respond to value changes.

Specified by:

stopLiveWindowMode in interface LiveWindowSendable