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https://github.com/wpilibsuite/allwpilib
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60 lines
1.4 KiB
C++
60 lines
1.4 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <hal/Types.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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namespace frc {
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/**
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* MXP analog output class.
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*/
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class AnalogOutput : public wpi::Sendable,
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public wpi::SendableHelper<AnalogOutput> {
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public:
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/**
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* Construct an analog output on the given channel.
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*
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* All analog outputs are located on the MXP port.
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*
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* @param channel The channel number on the roboRIO to represent.
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*/
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explicit AnalogOutput(int channel);
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~AnalogOutput() override;
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AnalogOutput(AnalogOutput&&) = default;
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AnalogOutput& operator=(AnalogOutput&&) = default;
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/**
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* Set the value of the analog output.
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*
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* @param voltage The output value in Volts, from 0.0 to +5.0.
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*/
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void SetVoltage(double voltage);
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/**
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* Get the voltage of the analog output.
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*
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* @return The value in Volts, from 0.0 to +5.0.
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*/
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double GetVoltage() const;
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/**
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* Get the channel of this AnalogOutput.
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*/
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int GetChannel() const;
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void InitSendable(wpi::SendableBuilder& builder) override;
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protected:
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int m_channel;
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hal::Handle<HAL_AnalogOutputHandle> m_port;
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};
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} // namespace frc
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