mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-28 02:11:43 +00:00
6d854afb0e
This is a major restructuring of the WPILib repository to simply build procedures and remove the remnants of Maven from everything except the eclipse plugins. Gradle files have been largely simplified or rewritten, taking advantage of splitting up parts of the build into separate build files for ease of reading. The eclipse plugins are now in a separate project, as is ntcore. All dependencies are resolved via Maven dependencies, with the Jenkins-maintained WPILib repo. Project structures have also been simplified: we no longer have separate subprojects inside wpilibc and wpilibj. Where possible, these changes hav been done with git renames, to make sure we still have full history for all repositories. Other unrelated subprojects have also been broken out: OutlineViewer is now a separate project. Change-Id: Ib4e2a6e1a2f66427a14f16612b0e0d69ed661878
56 lines
1.8 KiB
C++
56 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved.
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*/
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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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#pragma once
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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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#include <memory>
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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
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* 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,
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public ITableListener,
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public LiveWindowSendable {
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public:
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explicit DigitalOutput(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() const;
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void Pulse(float length);
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bool IsPulsing() const;
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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() const;
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virtual uint32_t GetModuleForRouting() const;
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virtual bool GetAnalogTriggerForRouting() const;
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virtual void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> 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() const;
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void InitTable(std::shared_ptr<ITable> subTable);
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std::shared_ptr<ITable> GetTable() const;
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private:
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uint32_t m_channel;
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void *m_pwmGenerator;
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std::shared_ptr<ITable> m_table = nullptr;
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};
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