mirror of
https://github.com/wpilibsuite/allwpilib
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143 lines
3.9 KiB
C++
143 lines
3.9 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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#include "wpi/hardware/discrete/DigitalOutput.hpp"
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#include <string>
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#include "wpi/hal/DIO.h"
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#include "wpi/hal/UsageReporting.hpp"
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#include "wpi/system/Errors.hpp"
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#include "wpi/util/SensorUtil.hpp"
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#include "wpi/util/StackTrace.hpp"
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#include "wpi/util/sendable/SendableBuilder.hpp"
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#include "wpi/util/sendable/SendableRegistry.hpp"
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using namespace wpi;
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DigitalOutput::DigitalOutput(int channel) {
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m_pwmGenerator = HAL_INVALID_HANDLE;
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m_channel = channel;
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int32_t status = 0;
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std::string stackTrace = wpi::util::GetStackTrace(1);
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m_handle = HAL_InitializeDIOPort(channel, false, stackTrace.c_str(), &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", channel);
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HAL_ReportUsage("IO", channel, "DigitalOutput");
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wpi::util::SendableRegistry::Add(this, "DigitalOutput", channel);
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}
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DigitalOutput::~DigitalOutput() {
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if (m_handle != HAL_INVALID_HANDLE) {
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// Disable the PWM in case it was running.
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try {
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DisablePWM();
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} catch (const RuntimeError& e) {
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e.Report();
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}
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}
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}
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void DigitalOutput::Set(bool value) {
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int32_t status = 0;
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HAL_SetDIO(m_handle, value, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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}
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bool DigitalOutput::Get() const {
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int32_t status = 0;
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bool val = HAL_GetDIO(m_handle, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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return val;
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}
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int DigitalOutput::GetChannel() const {
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return m_channel;
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}
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void DigitalOutput::Pulse(wpi::units::second_t pulseLength) {
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int32_t status = 0;
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HAL_Pulse(m_handle, pulseLength.value(), &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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}
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bool DigitalOutput::IsPulsing() const {
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int32_t status = 0;
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bool value = HAL_IsPulsing(m_handle, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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return value;
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}
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void DigitalOutput::SetPWMRate(double rate) {
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int32_t status = 0;
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HAL_SetDigitalPWMRate(rate, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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}
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void DigitalOutput::EnablePPS(double dutyCycle) {
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if (m_pwmGenerator != HAL_INVALID_HANDLE) {
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return;
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}
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int32_t status = 0;
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m_pwmGenerator = HAL_AllocateDigitalPWM(&status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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HAL_SetDigitalPWMPPS(m_pwmGenerator, dutyCycle, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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}
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void DigitalOutput::EnablePWM(double initialDutyCycle) {
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if (m_pwmGenerator != HAL_INVALID_HANDLE) {
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return;
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}
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int32_t status = 0;
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m_pwmGenerator = HAL_AllocateDigitalPWM(&status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, initialDutyCycle, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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HAL_SetDigitalPWMOutputChannel(m_pwmGenerator, m_channel, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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}
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void DigitalOutput::DisablePWM() {
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if (m_pwmGenerator == HAL_INVALID_HANDLE) {
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return;
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}
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int32_t status = 0;
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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HAL_FreeDigitalPWM(m_pwmGenerator);
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m_pwmGenerator = HAL_INVALID_HANDLE;
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}
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void DigitalOutput::UpdateDutyCycle(double dutyCycle) {
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int32_t status = 0;
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HAL_SetDigitalPWMDutyCycle(m_pwmGenerator, dutyCycle, &status);
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WPILIB_CheckErrorStatus(status, "Channel {}", m_channel);
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}
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void DigitalOutput::SetSimDevice(HAL_SimDeviceHandle device) {
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HAL_SetDIOSimDevice(m_handle, device);
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}
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void DigitalOutput::InitSendable(wpi::util::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Digital Output");
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builder.AddBooleanProperty(
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"Value", [=, this] { return Get(); },
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[=, this](bool value) { Set(value); });
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}
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