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wpilibc/src/main/native/include/wpi/hardware/discrete/DigitalOutput.hpp

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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.
+
+#pragma once
+
+#include <hal/DIO.h>
+#include <hal/Types.h>
+#include <units/time.h>
+#include <wpi/sendable/Sendable.h>
+#include <wpi/sendable/SendableHelper.h>
+
+namespace frc {
+
+/**
+ * Class to write to digital outputs.
+ *
+ * Write values to the digital output channels. Other devices implemented
+ * elsewhere will allocate channels automatically so for those devices it
+ * shouldn't be done here.
+ */
+class DigitalOutput : public wpi::Sendable,
+                      public wpi::SendableHelper<DigitalOutput> {
+ public:
+  /**
+   * Create an instance of a digital output.
+   *
+   * Create a digital output given a channel.
+   *
+   * @param channel The digital channel 0-9 are on-board, 10-25 are on the MXP
+   *                port
+   */
+  explicit DigitalOutput(int channel);
+
+  DigitalOutput(DigitalOutput&&) = default;
+  DigitalOutput& operator=(DigitalOutput&&) = default;
+
+  ~DigitalOutput() override;
+
+  /**
+   * Set the value of a digital output.
+   *
+   * Set the value of a digital output to either one (true) or zero (false).
+   *
+   * @param value 1 (true) for high, 0 (false) for disabled
+   */
+  void Set(bool value);
+
+  /**
+   * Gets the value being output from the Digital Output.
+   *
+   * @return the state of the digital output.
+   */
+  bool Get() const;
+
+  /**
+   * @return The GPIO channel number that this object represents.
+   */
+  int GetChannel() const;
+
+  /**
+   * Output a single pulse on the digital output line.
+   *
+   * Send a single pulse on the digital output line where the pulse duration is
+   * specified in seconds. Maximum of 65535 microseconds.
+   *
+   * @param pulseLength The pulse length in seconds
+   */
+  void Pulse(units::second_t pulseLength);
+
+  /**
+   * Determine if the pulse is still going.
+   *
+   * Determine if a previously started pulse is still going.
+   */
+  bool IsPulsing() const;
+
+  /**
+   * 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 digital channels.
+   *
+   * @param rate The frequency to output all digital output PWM signals.
+   */
+  void SetPWMRate(double rate);
+
+  /**
+   * Enable a PWM PPS (Pulse Per Second) Output on this line.
+   *
+   * Allocate one of the 6 DO PWM generator resources from this module.
+   *
+   * Supply the duty-cycle to output.
+   *
+   * The resolution of the duty cycle is 8-bit.
+   *
+   * @param dutyCycle The duty-cycle to start generating. [0..1]
+   */
+  void EnablePPS(double dutyCycle);
+
+  /**
+   * Enable a PWM Output on this line.
+   *
+   * Allocate one of the 6 DO PWM generator resources from this module.
+   *
+   * 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.
+   *
+   * @param initialDutyCycle The duty-cycle to start generating. [0..1]
+   */
+  void EnablePWM(double initialDutyCycle);
+
+  /**
+   * 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.
+   */
+  void DisablePWM();
+
+  /**
+   * 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.
+   *
+   * @param dutyCycle The duty-cycle to change to. [0..1]
+   */
+  void UpdateDutyCycle(double dutyCycle);
+
+  /**
+   * Indicates this output is used by a simulated device.
+   *
+   * @param device simulated device handle
+   */
+  void SetSimDevice(HAL_SimDeviceHandle device);
+
+  void InitSendable(wpi::SendableBuilder& builder) override;
+
+ private:
+  int m_channel;
+  hal::Handle<HAL_DigitalHandle, HAL_FreeDIOPort> m_handle;
+  hal::Handle<HAL_DigitalPWMHandle> m_pwmGenerator;
+};
+
+}  // namespace frc