edu.wpi.first.wpilibj

Class DigitalOutput

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.DigitalOutput

All Implemented Interfaces:

Sendable

public class DigitalOutput
extends SendableBase
implements Sendable

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.

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	getChannel() Get the GPIO channel number that this object represents.
void	initSendable(SendableBuilder builder) Initializes this Sendable object.
boolean	isPulsing() Determine if the pulse is still going.
void	pulse(double pulseLength) Generate a single pulse.
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	updateDutyCycle(double dutyCycle) Change the duty-cycle that is being generated on the line.

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

addChild, getName, getSubsystem, setName, setName, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

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 SendableBase

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()

Get the GPIO channel number that this object represents.

Returns:

The GPIO channel number.

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.

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 channels.

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]

initSendable

public void initSendable(SendableBuilder builder)

Description copied from interface: Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface Sendable

Parameters:

builder - sendable builder