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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
64 lines
2.0 KiB
C++
64 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef DIGITAL_OUTPUT_H_
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#define DIGITAL_OUTPUT_H_
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#include "DigitalSource.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITableListener.h"
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class DigitalModule;
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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 elsewhere will allocate
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* channels automatically so for those devices it shouldn't be done here.
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*/
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class DigitalOutput : public DigitalSource, public ITableListener, public LiveWindowSendable
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{
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public:
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explicit DigitalOutput(uint32_t channel);
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DigitalOutput(uint8_t moduleNumber, uint32_t channel);
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virtual ~DigitalOutput();
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void Set(uint32_t value);
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uint32_t GetChannel();
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void Pulse(float length);
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bool IsPulsing();
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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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virtual uint32_t GetChannelForRouting();
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virtual uint32_t GetModuleForRouting();
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virtual bool GetAnalogTriggerForRouting();
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virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param);
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virtual void RequestInterrupts();
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void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
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virtual void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
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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();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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private:
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void InitDigitalOutput(uint8_t moduleNumber, uint32_t channel);
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uint32_t m_channel;
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uint32_t m_pwmGenerator;
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DigitalModule *m_module;
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ITable *m_table;
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};
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#endif
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