mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
57 lines
1.9 KiB
C++
57 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008-2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
|
|
#include "DigitalSource.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
#include "tables/ITableListener.h"
|
|
|
|
/**
|
|
* Class to write to digital outputs.
|
|
* Write values to the digital output channels. Other devices implemented
|
|
* elsewhere will allocate channels automatically so for those devices it
|
|
* shouldn't be done here.
|
|
*/
|
|
class DigitalOutput : public DigitalSource,
|
|
public ITableListener,
|
|
public LiveWindowSendable {
|
|
public:
|
|
explicit DigitalOutput(uint32_t channel);
|
|
virtual ~DigitalOutput();
|
|
void Set(uint32_t value);
|
|
uint32_t GetChannel() const;
|
|
void Pulse(float length);
|
|
bool IsPulsing() const;
|
|
void SetPWMRate(float rate);
|
|
void EnablePWM(float initialDutyCycle);
|
|
void DisablePWM();
|
|
void UpdateDutyCycle(float dutyCycle);
|
|
|
|
// Digital Source Interface
|
|
virtual uint32_t GetChannelForRouting() const;
|
|
virtual uint32_t GetModuleForRouting() const;
|
|
virtual bool GetAnalogTriggerForRouting() const;
|
|
|
|
virtual void ValueChanged(ITable* source, llvm::StringRef key,
|
|
std::shared_ptr<nt::Value> value, bool isNew);
|
|
void UpdateTable();
|
|
void StartLiveWindowMode();
|
|
void StopLiveWindowMode();
|
|
std::string GetSmartDashboardType() const;
|
|
void InitTable(std::shared_ptr<ITable> subTable);
|
|
std::shared_ptr<ITable> GetTable() const;
|
|
|
|
private:
|
|
uint32_t m_channel;
|
|
void* m_pwmGenerator;
|
|
|
|
std::shared_ptr<ITable> m_table;
|
|
};
|