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Directly construct PWM port from HAL, avoid wpilib PWM object (#2106)

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Thad House
2019-11-20 14:48:14 -08:00
committed by Peter Johnson
parent c0e36df9d8
commit 5443fdabc1
3 changed files with 30 additions and 79 deletions
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31
wpilibj/src/main/java/edu/wpi/first/wpilibj/AddressableLED.java
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@@ -8,25 +8,15 @@
package edu.wpi.first.wpilibj;
import edu.wpi.first.hal.AddressableLEDJNI;
import edu.wpi.first.hal.HAL;
import edu.wpi.first.hal.PWMJNI;
/**
* A class for driving addressable LEDs, such as WS2812s and NeoPixels.
*/
public class AddressableLED implements AutoCloseable {
private final PWM m_pwmOutput;
private int m_handle;
private final boolean m_ownsPwm;
/**
* Constructs a new driver from a PWM output.
*
* @param output the pwm output to use
*/
public AddressableLED(PWM output) {
m_pwmOutput = output;
m_ownsPwm = false;
init();
}
private final int m_pwmHandle;
private final int m_handle;
/**
* Constructs a new driver for a specific port.
@@ -34,13 +24,8 @@ public class AddressableLED implements AutoCloseable {
* @param port the output port to use (Must be a PWM port)
*/
public AddressableLED(int port) {
m_pwmOutput = new PWM(port);
m_ownsPwm = true;
init();
}
private void init() {
m_handle = AddressableLEDJNI.initialize(m_pwmOutput.m_handle);
m_pwmHandle = PWMJNI.initializePWMPort(HAL.getPort((byte) port));
m_handle = AddressableLEDJNI.initialize(m_pwmHandle);
}
@Override
@@ -48,8 +33,8 @@ public class AddressableLED implements AutoCloseable {
if (m_handle != 0) {
AddressableLEDJNI.free(m_handle);
}
if (m_ownsPwm) {
m_pwmOutput.close();
if (m_pwmHandle != 0) {
PWMJNI.freePWMPort(m_pwmHandle);
}
}