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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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4
wpilibc/src/main/native/cpp/DigitalOutput.cpp
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@@ -76,9 +76,9 @@ int DigitalOutput::GetChannel() const {
return m_channel;
}
void DigitalOutput::Pulse(double length) {
void DigitalOutput::Pulse(units::second_t pulseLength) {
int32_t status = 0;
HAL_Pulse(m_handle, length, &status);
HAL_Pulse(m_handle, pulseLength.to<double>(), &status);
FRC_CheckErrorStatus(status, "Channel {}", m_channel);
}