mirror of
https://github.com/wpilibsuite/allwpilib
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61 lines
2.0 KiB
C++
61 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <memory>
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#include <string>
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#include "DigitalSource.h"
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#include "HAL/Types.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITableListener.h"
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/**
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* Class to write to digital outputs.
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* Write values to the digital output channels. Other devices implemented
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* elsewhere will allocate channels automatically so for those devices it
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* shouldn't be done here.
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*/
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class DigitalOutput : public DigitalSource,
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public ITableListener,
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public LiveWindowSendable {
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public:
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explicit DigitalOutput(int channel);
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virtual ~DigitalOutput();
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void Set(bool value);
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bool Get() const;
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int GetChannel() const override;
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void Pulse(float length);
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bool IsPulsing() const;
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void SetPWMRate(float rate);
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void EnablePWM(float initialDutyCycle);
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void DisablePWM();
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void UpdateDutyCycle(float dutyCycle);
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// Digital Source Interface
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HAL_Handle GetPortHandleForRouting() const override;
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AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
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bool IsAnalogTrigger() const override;
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) override;
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType() const;
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void InitTable(std::shared_ptr<ITable> subTable);
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std::shared_ptr<ITable> GetTable() const;
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private:
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int m_channel;
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HAL_DigitalHandle m_handle;
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HAL_DigitalPWMHandle m_pwmGenerator;
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std::shared_ptr<ITable> m_table;
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};
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