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[hal, wpilib] Fix up DIO pulse API (#4387)

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The FPGA API takes microseconds directly, instead of a scaled value. Also add a new HAL level API to trigger multiple DIOs with the same pulse at once.
This commit is contained in:
Thad House
2022-09-02 16:49:42 -07:00
committed by GitHub
parent 59e6706b75
commit a5df391166
9 changed files with 88 additions and 19 deletions
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14
hal/src/main/native/cpp/jni/DIOJNI.cpp
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@@ -144,6 +144,20 @@ Java_edu_wpi_first_hal_DIOJNI_pulse
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_DIOJNI
* Method: pulseMultiple
* Signature: (JD)V
*/
JNIEXPORT void JNICALL
Java_edu_wpi_first_hal_DIOJNI_pulseMultiple
(JNIEnv* env, jclass, jlong channelMask, jdouble value)
{
int32_t status = 0;
HAL_PulseMultiple(static_cast<uint32_t>(channelMask), value, &status);
CheckStatus(env, status);
}
/*
* Class: edu_wpi_first_hal_DIOJNI
* Method: isPulsing