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https://github.com/wpilibsuite/allwpilib
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8ae64a12ea
Pneumatics still have CAN modules. The refactored code is now eight plugins for sensors and actuators. There is some code reuse that should be refactored out, but that level of abstraction will wait until we figure out how these plugins are integrating with gazebo proper. Change-Id: I357e695ef05af6dda83a39ba60380686bd57d11a Closes: artf2610, artf2623
85 lines
1.8 KiB
C++
85 lines
1.8 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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#include "DigitalInput.h"
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#include "WPIErrors.h"
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/**
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* Create an instance of a DigitalInput.
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* Creates a digital input given a channel. Common creation routine for all
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* constructors.
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*/
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void DigitalInput::InitDigitalInput(uint32_t channel)
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{
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m_table = NULL;
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char buf[64];
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m_channel = channel;
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int n = sprintf(buf, "dio/%d", channel);
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m_impl = new SimDigitalInput(buf);
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}
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/**
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* Create an instance of a Digital Input class.
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* Creates a digital input given a channel and uses the default module.
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*
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* @param channel The digital channel (1..14).
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*/
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DigitalInput::DigitalInput(uint32_t channel)
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{
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InitDigitalInput(channel);
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}
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/**
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* Free resources associated with the Digital Input class.
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*/
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DigitalInput::~DigitalInput()
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{
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}
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/*
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* Get the value from a digital input channel.
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* Retrieve the value of a single digital input channel from the FPGA.
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*/
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uint32_t DigitalInput::Get()
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{
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return m_impl->Get();
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}
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/**
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* @return The GPIO channel number that this object represents.
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*/
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uint32_t DigitalInput::GetChannel()
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{
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return m_channel;
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}
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void DigitalInput::UpdateTable() {
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if (m_table != NULL) {
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m_table->PutBoolean("Value", Get());
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}
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}
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void DigitalInput::StartLiveWindowMode() {
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}
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void DigitalInput::StopLiveWindowMode() {
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}
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std::string DigitalInput::GetSmartDashboardType() {
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return "DigitalInput";
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}
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void DigitalInput::InitTable(ITable *subTable) {
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m_table = subTable;
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UpdateTable();
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}
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ITable * DigitalInput::GetTable() {
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return m_table;
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}
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