mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
65 lines
2.1 KiB
C++
65 lines
2.1 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
#include <string>
|
|
|
|
#include "DigitalSource.h"
|
|
#include "HAL/Types.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
#include "tables/ITableListener.h"
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* Class to write to digital outputs.
|
|
* Write values to the digital output channels. Other devices implemented
|
|
* elsewhere will allocate channels automatically so for those devices it
|
|
* shouldn't be done here.
|
|
*/
|
|
class DigitalOutput : public DigitalSource,
|
|
public ITableListener,
|
|
public LiveWindowSendable {
|
|
public:
|
|
explicit DigitalOutput(int channel);
|
|
virtual ~DigitalOutput();
|
|
void Set(bool value);
|
|
bool Get() const;
|
|
int GetChannel() const override;
|
|
void Pulse(double length);
|
|
bool IsPulsing() const;
|
|
void SetPWMRate(double rate);
|
|
void EnablePWM(double initialDutyCycle);
|
|
void DisablePWM();
|
|
void UpdateDutyCycle(double dutyCycle);
|
|
|
|
// Digital Source Interface
|
|
HAL_Handle GetPortHandleForRouting() const override;
|
|
AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
|
|
bool IsAnalogTrigger() const override;
|
|
|
|
void ValueChanged(ITable* source, llvm::StringRef key,
|
|
std::shared_ptr<nt::Value> value, bool isNew) override;
|
|
void UpdateTable();
|
|
void StartLiveWindowMode();
|
|
void StopLiveWindowMode();
|
|
std::string GetSmartDashboardType() const;
|
|
void InitTable(std::shared_ptr<ITable> subTable);
|
|
std::shared_ptr<ITable> GetTable() const;
|
|
|
|
private:
|
|
int m_channel;
|
|
HAL_DigitalHandle m_handle;
|
|
HAL_DigitalPWMHandle m_pwmGenerator;
|
|
|
|
std::shared_ptr<ITable> m_table;
|
|
};
|
|
|
|
} // namespace frc
|