edu.wpi.first.wpilibj

Class SensorBase

java.lang.Object

edu.wpi.first.wpilibj.SensorBase

Direct Known Subclasses:

ADXL345_I2C, ADXL345_SPI, ADXL362, AnalogAccelerometer, AnalogInput, AnalogOutput, Compressor, Counter, DigitalGlitchFilter, Encoder, GyroBase, I2C, InterruptableSensorBase, PowerDistributionPanel, PWM, Relay, SolenoidBase, SPI, Ultrasonic

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

Fields

Modifier and Type	Field and Description
static int	kAnalogInputChannels Number of analog input channels per roboRIO.
static int	kAnalogOutputChannels Number of analog output channels per roboRIO.
static int	kDigitalChannels Number of digital channels per roboRIO.
static int	kPCMModules Number of PCM Modules.
static int	kPDPChannels Number of power distribution channels per PDP.
static int	kPDPModules Number of power distribution modules per PDP.
static int	kPwmChannels Number of PWM channels per roboRIO.
static int	kRelayChannels Number of relay channels per roboRIO.
static int	kSolenoidChannels Number of solenoid channels per module.
static int	kSystemClockTicksPerMicrosecond Ticks per microsecond.

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
protected static void	checkAnalogInputChannel(int channel) Check that the analog input number is value.
protected static void	checkAnalogOutputChannel(int channel) Check that the analog input number is value.
protected static void	checkDigitalChannel(int channel) Check that the digital channel number is valid.
protected static void	checkPDPChannel(int channel) Verify that the power distribution channel number is within limits.
protected static void	checkPDPModule(int module) Verify that the PDP module number is within limits.
protected static void	checkPWMChannel(int channel) Check that the digital channel number is valid.
protected static void	checkRelayChannel(int channel) Check that the digital channel 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	getDefaultSolenoidModule() Get the number of the default solenoid module.
static void	setDefaultSolenoidModule(int moduleNumber) Set the default location for the Solenoid 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.

kDigitalChannels

public static final int kDigitalChannels

Number of digital channels per roboRIO.

kAnalogInputChannels

public static final int kAnalogInputChannels

Number of analog input channels per roboRIO.

kAnalogOutputChannels

public static final int kAnalogOutputChannels

Number of analog output channels per roboRIO.

kSolenoidChannels

public static final int kSolenoidChannels

Number of solenoid channels per module.

kPwmChannels

public static final int kPwmChannels

Number of PWM channels per roboRIO.

kRelayChannels

public static final int kRelayChannels

Number of relay channels per roboRIO.

kPDPChannels

public static final int kPDPChannels

Number of power distribution channels per PDP.

kPDPModules

public static final int kPDPModules

Number of power distribution modules per PDP.

kPCMModules

public static final int kPCMModules

Number of PCM Modules.

Constructor Detail

SensorBase

public SensorBase()

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

Method Detail

setDefaultSolenoidModule

public static void setDefaultSolenoidModule(int moduleNumber)

Set the default location for the Solenoid module.

Parameters:

moduleNumber - The number of the solenoid module to use.

checkSolenoidModule

protected static void checkSolenoidModule(int moduleNumber)

Verify that the solenoid module is correct.

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 0-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 0-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 0-based.

Parameters:

channel - The channel number to check.

checkAnalogInputChannel

protected static void checkAnalogInputChannel(int channel)

Check that the analog input number is value. Verify that the analog input number is one of the legal channel numbers. Channel numbers are 0-based.

Parameters:

channel - The channel number to check.

checkAnalogOutputChannel

protected static void checkAnalogOutputChannel(int channel)

Check that the analog input number is value. Verify that the analog input number is one of the legal channel numbers. Channel numbers are 0-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 0-based.

Parameters:

channel - The channel number to check.

checkPDPChannel

protected static void checkPDPChannel(int channel)

Verify that the power distribution channel number is within limits. Channel numbers are 0-based.

Parameters:

channel - The channel number to check.

checkPDPModule

protected static void checkPDPModule(int module)

Verify that the PDP module number is within limits. module numbers are 0-based.

Parameters:

module - The module number to check.

getDefaultSolenoidModule

public static int getDefaultSolenoidModule()

Get the number of the default solenoid module.

Returns:

The number of the default solenoid module.

free

public void free()

Free the resources used by this object.