mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-24 01:31:46 +00:00
b417d961ec
The non-NT portion has been moved to wpiutil. The NT portion has been moved to ntcore (as NTSendable). SendableBuilder similarly split and moved. SendableRegistry moved to wpiutil. In C++, SendableHelper also moved to wpiutil. This enables use of Sendable from wpimath and also enables moving several classes from wpilib to wpimath.
60 lines
1.4 KiB
C++
60 lines
1.4 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include <hal/Types.h>
|
|
#include <wpi/sendable/Sendable.h>
|
|
#include <wpi/sendable/SendableHelper.h>
|
|
|
|
namespace frc {
|
|
|
|
/**
|
|
* MXP analog output class.
|
|
*/
|
|
class AnalogOutput : public wpi::Sendable,
|
|
public wpi::SendableHelper<AnalogOutput> {
|
|
public:
|
|
/**
|
|
* Construct an analog output on the given channel.
|
|
*
|
|
* All analog outputs are located on the MXP port.
|
|
*
|
|
* @param channel The channel number on the roboRIO to represent.
|
|
*/
|
|
explicit AnalogOutput(int channel);
|
|
|
|
~AnalogOutput() override;
|
|
|
|
AnalogOutput(AnalogOutput&&) = default;
|
|
AnalogOutput& operator=(AnalogOutput&&) = default;
|
|
|
|
/**
|
|
* Set the value of the analog output.
|
|
*
|
|
* @param voltage The output value in Volts, from 0.0 to +5.0
|
|
*/
|
|
void SetVoltage(double voltage);
|
|
|
|
/**
|
|
* Get the voltage of the analog output
|
|
*
|
|
* @return The value in Volts, from 0.0 to +5.0
|
|
*/
|
|
double GetVoltage() const;
|
|
|
|
/**
|
|
* Get the channel of this AnalogOutput.
|
|
*/
|
|
int GetChannel() const;
|
|
|
|
void InitSendable(wpi::SendableBuilder& builder) override;
|
|
|
|
protected:
|
|
int m_channel;
|
|
hal::Handle<HAL_AnalogOutputHandle> m_port;
|
|
};
|
|
|
|
} // namespace frc
|