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wpilibc/src/main/native/cpp/hardware/rotation/DutyCycle.cpp

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "frc/DutyCycle.h"
+
+#include <string>
+#include <utility>
+
+#include <hal/DutyCycle.h>
+#include <hal/HALBase.h>
+#include <hal/UsageReporting.h>
+#include <wpi/NullDeleter.h>
+#include <wpi/StackTrace.h>
+#include <wpi/sendable/SendableBuilder.h>
+
+#include "frc/Errors.h"
+#include "frc/SensorUtil.h"
+
+using namespace frc;
+
+DutyCycle::DutyCycle(int channel) : m_channel{channel} {
+  if (!SensorUtil::CheckDigitalChannel(channel)) {
+    throw FRC_MakeError(err::ChannelIndexOutOfRange, "Channel {}", channel);
+  }
+  InitDutyCycle();
+}
+
+void DutyCycle::InitDutyCycle() {
+  int32_t status = 0;
+  std::string stackTrace = wpi::GetStackTrace(1);
+  m_handle = HAL_InitializeDutyCycle(m_channel, stackTrace.c_str(), &status);
+  FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
+  HAL_ReportUsage("IO", m_channel, "DutyCycle");
+  wpi::SendableRegistry::Add(this, "Duty Cycle", m_channel);
+}
+
+units::hertz_t DutyCycle::GetFrequency() const {
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleFrequency(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
+  return units::hertz_t{retVal};
+}
+
+double DutyCycle::GetOutput() const {
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleOutput(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
+  return retVal;
+}
+
+units::second_t DutyCycle::GetHighTime() const {
+  int32_t status = 0;
+  auto retVal = HAL_GetDutyCycleHighTime(m_handle, &status);
+  FRC_CheckErrorStatus(status, "Channel {}", GetSourceChannel());
+  return units::nanosecond_t{static_cast<double>(retVal)};
+}
+
+int DutyCycle::GetSourceChannel() const {
+  return m_channel;
+}
+
+void DutyCycle::InitSendable(wpi::SendableBuilder& builder) {
+  builder.SetSmartDashboardType("Duty Cycle");
+  builder.AddDoubleProperty(
+      "Frequency", [this] { return this->GetFrequency().value(); }, nullptr);
+  builder.AddDoubleProperty(
+      "Output", [this] { return this->GetOutput(); }, nullptr);
+}