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wpilibcExamples/src/main/cpp/examples/DigitalCommunication/include/Robot.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 <array>
+
+#include <frc/DigitalOutput.h>
+#include <frc/TimedRobot.h>
+
+/**
+ * This is a sample program demonstrating how to communicate to a light
+ * controller from the robot code using the roboRIO's DIO ports.
+ */
+class Robot : public frc::TimedRobot {
+ public:
+  // define ports for communication with light controller
+  static constexpr int kAlliancePort = 0;
+  static constexpr int kEnabledPort = 1;
+  static constexpr int kAutonomousPort = 2;
+  static constexpr int kAlertPort = 3;
+
+  void RobotPeriodic() override;
+
+ private:
+  frc::DigitalOutput m_allianceOutput{kAlliancePort};
+  frc::DigitalOutput m_enabledOutput{kEnabledPort};
+  frc::DigitalOutput m_autonomousOutput{kAutonomousPort};
+  frc::DigitalOutput m_alertOutput{kAlertPort};
+};