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https://github.com/wpilibsuite/allwpilib
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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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/* 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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/**
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* Class to write to digital outputs.
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* Write values to the digital output channels. Other devices implemented 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, public ITableListener, public LiveWindowSendable
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{
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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();
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void Pulse(float length);
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bool IsPulsing();
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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();
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virtual uint32_t GetModuleForRouting();
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virtual bool GetAnalogTriggerForRouting();
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virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param);
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virtual void RequestInterrupts();
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void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
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virtual void ValueChanged(ITable* source, const std::string& key, EntryValue 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();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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private:
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void InitDigitalOutput(uint32_t channel);
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uint32_t m_channel;
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void *m_pwmGenerator;
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ITable *m_table;
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};
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