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Merge "Artf4776 Fixes First DIO PWM usage errors"

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This commit is contained in:
Peter Johnson (294)
2015-12-29 08:23:56 -08:00
committed by Gerrit Code Review
parent 3d2b54a1c0 dbba4a1036
commit 416a238bed
3 changed files with 110 additions and 5 deletions
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12
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DigitalOutput.java
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@@ -22,7 +22,9 @@ import edu.wpi.first.wpilibj.communication.FRCNetworkCommunicationsLibrary.tReso
*/
public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
private long m_pwmGenerator;
private static final long invalidPwmGenerator = 0xffffffff;
private long m_pwmGenerator = invalidPwmGenerator;
/**
* Create an instance of a digital output. Create an instance of a digital
@@ -43,7 +45,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
@Override
public void free() {
// disable the pwm only if we have allocated it
if (m_pwmGenerator != 0) {
if (m_pwmGenerator != invalidPwmGenerator) {
disablePWM();
}
super.free();
@@ -131,7 +133,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
* @param initialDutyCycle The duty-cycle to start generating. [0..1]
*/
public void enablePWM(double initialDutyCycle) {
if (m_pwmGenerator != 0)
if (m_pwmGenerator != invalidPwmGenerator)
return;
m_pwmGenerator = PWMJNI.allocatePWM();
PWMJNI.setPWMDutyCycle(m_pwmGenerator, initialDutyCycle);
@@ -144,7 +146,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
* Free up one of the 6 DO PWM generator resources that were in use.
*/
public void disablePWM() {
if (m_pwmGenerator == 0)
if (m_pwmGenerator == invalidPwmGenerator)
return;
// Disable the output by routing to a dead bit.
PWMJNI.setPWMOutputChannel(m_pwmGenerator, kDigitalChannels);
@@ -161,7 +163,7 @@ public class DigitalOutput extends DigitalSource implements LiveWindowSendable {
* @param dutyCycle The duty-cycle to change to. [0..1]
*/
public void updateDutyCycle(double dutyCycle) {
if (m_pwmGenerator == 0)
if (m_pwmGenerator == invalidPwmGenerator)
return;
PWMJNI.setPWMDutyCycle(m_pwmGenerator, dutyCycle);
}