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https://github.com/wpilibsuite/allwpilib
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a5df391166
The FPGA API takes microseconds directly, instead of a scaled value. Also add a new HAL level API to trigger multiple DIOs with the same pulse at once.
156 lines
4.2 KiB
C++
156 lines
4.2 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 <units/time.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/DigitalSource.h"
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namespace frc {
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/**
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* Class to write to digital outputs.
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*
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* Write values to the digital output channels. Other devices implemented
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* elsewhere will allocate channels automatically so for those devices it
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* shouldn't be done here.
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*/
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class DigitalOutput : public DigitalSource,
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public wpi::Sendable,
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public wpi::SendableHelper<DigitalOutput> {
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public:
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/**
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* Create an instance of a digital output.
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*
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* Create a digital output given a channel.
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*
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* @param channel The digital channel 0-9 are on-board, 10-25 are on the MXP
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* port
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*/
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explicit DigitalOutput(int channel);
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~DigitalOutput() override;
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DigitalOutput(DigitalOutput&&) = default;
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DigitalOutput& operator=(DigitalOutput&&) = default;
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/**
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* Set the value of a digital output.
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*
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* Set the value of a digital output to either one (true) or zero (false).
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*
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* @param value 1 (true) for high, 0 (false) for disabled
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*/
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void Set(bool value);
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/**
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* Gets the value being output from the Digital Output.
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*
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* @return the state of the digital output.
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*/
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bool Get() const;
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// Digital Source Interface
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/**
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* @return The HAL Handle to the specified source.
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*/
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HAL_Handle GetPortHandleForRouting() const override;
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/**
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* @return The type of analog trigger output to be used. 0 for Digitals
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*/
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AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
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/**
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* Is source an AnalogTrigger
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*/
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bool IsAnalogTrigger() const override;
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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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int GetChannel() const override;
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/**
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* Output a single pulse on the digital output line.
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*
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* Send a single pulse on the digital output line where the pulse duration is
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* specified in seconds. Maximum of 65535 microseconds.
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*
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* @param pulseLength The pulse length in seconds
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*/
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void Pulse(units::second_t pulseLength);
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/**
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* Determine if the pulse is still going.
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*
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* Determine if a previously started pulse is still going.
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*/
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bool IsPulsing() const;
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/**
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* Change the PWM frequency of the PWM output on a Digital Output line.
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*
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* The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is
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* logarithmic.
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*
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* There is only one PWM frequency for all digital channels.
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*
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* @param rate The frequency to output all digital output PWM signals.
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*/
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void SetPWMRate(double rate);
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/**
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* Enable a PWM Output on this line.
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*
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* Allocate one of the 6 DO PWM generator resources from this module.
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*
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* Supply the initial duty-cycle to output so as to avoid a glitch when first
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* starting.
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*
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* The resolution of the duty cycle is 8-bit for low frequencies (1kHz or
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* less) but is reduced the higher the frequency of the PWM signal is.
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*
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* @param initialDutyCycle The duty-cycle to start generating. [0..1]
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*/
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void EnablePWM(double initialDutyCycle);
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/**
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* Change this line from a PWM output back to a static Digital Output line.
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*
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* Free up one of the 6 DO PWM generator resources that were in use.
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*/
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void DisablePWM();
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/**
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* Change the duty-cycle that is being generated on the line.
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*
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* The resolution of the duty cycle is 8-bit for low frequencies (1kHz or
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* less) but is reduced the higher the frequency of the PWM signal is.
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*
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* @param dutyCycle The duty-cycle to change to. [0..1]
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*/
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void UpdateDutyCycle(double dutyCycle);
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/**
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* Indicates this output is used by a simulated device.
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*
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* @param device simulated device handle
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*/
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void SetSimDevice(HAL_SimDeviceHandle device);
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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int m_channel;
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hal::Handle<HAL_DigitalHandle> m_handle;
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hal::Handle<HAL_DigitalPWMHandle> m_pwmGenerator;
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};
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} // namespace frc
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