mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
f9bece2ffb
LiveWindow.updateValues() is now called from IterativeRobotBase on every loop iteration. Telemetry for all WPILib classes is enabled by default; it can be disabled for specific classes using LiveWindow.disableTelemetry(), or all telemetry can be disabled using LiveWindow.disableAllTelemetry(). This necessitated changing the hook methodology into other classes to be more property-based rather than each class providing multiple functions. This had the benefit of reducing boilerplate and increasing consistency. - Remove NamedSendable, add name to Sendable. - Provide SendableBase abstract class. - Deprecate LiveWindow addSensor/addActuator interfaces. - Add LiveWindow support to drive classes. - Add addChild() helper functions to Subsystem. - Fix inheritance hierarchy. Now only sensors inherit from SensorBase. Other devices inherit from some combination of SendableBase, ErrorBase, or nothing.
47 lines
1.4 KiB
C++
47 lines
1.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 FIRST. 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 the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include <HAL/Types.h>
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#include "ErrorBase.h"
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#include "SmartDashboard/SendableBase.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 ErrorBase, public SendableBase {
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public:
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explicit DigitalOutput(int channel);
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~DigitalOutput() override;
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void Set(bool value);
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bool Get() const;
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int GetChannel() const;
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void Pulse(double length);
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bool IsPulsing() const;
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void SetPWMRate(double rate);
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void EnablePWM(double initialDutyCycle);
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void DisablePWM();
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void UpdateDutyCycle(double dutyCycle);
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void InitSendable(SendableBuilder& builder) override;
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private:
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int m_channel;
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HAL_DigitalHandle m_handle;
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HAL_DigitalPWMHandle m_pwmGenerator;
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};
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} // namespace frc
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