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https://github.com/wpilibsuite/allwpilib
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605148456e
Change-Id: If6082f6b92b4be5e328278ba536d5a7681082c9f (+4 squashed commit) Squashed commit: [86b4ae7] * Port I2C to roboRIO in JNI and Java. Left read method as a transaction and added readOnly. Left write as a single byte and added writeBulk. Need to go back to C++ and update to match. Change-Id: I290d84211a4b7bb942d785730c0e6929449cf69f [7d37419] * Remove HiTechnic sensors from Java. May be added back later as examples Change-Id: Ie93e23a70fd953c99c03d50d9529220f86d32e03 [e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++ Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915 [1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282 (+2 squashed commit) Squashed commit: [e62bfbf] * I2C ported to roboRIO i2clib in HAL and C++ Change-Id: Idb0e8cee5a1e8c1a0b0733ca94b528f659352915 [1059a48] * Remove HiTechnic sensors (Lego connector) may be added back as examples later Change-Id: I84b8e1e022db2c69d487ed9ad5b3ec0e7ea57282
67 lines
2.1 KiB
C++
67 lines
2.1 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 "HAL/HAL.hpp"
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#include "Module.h"
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class I2C;
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const uint32_t kExpectedLoopTiming = 260;
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class DigitalModule : public Module
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{
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friend class I2C;
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friend class Module;
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protected:
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explicit DigitalModule(uint8_t moduleNumber);
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virtual ~DigitalModule();
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public:
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void SetPWM(uint32_t channel, unsigned short value);
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unsigned short GetPWM(uint32_t channel);
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void SetPWMPeriodScale(uint32_t channel, uint32_t squelchMask);
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void SetRelayForward(uint32_t channel, bool on);
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void SetRelayReverse(uint32_t channel, bool on);
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bool GetRelayForward(uint32_t channel);
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uint8_t GetRelayForward();
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bool GetRelayReverse(uint32_t channel);
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uint8_t GetRelayReverse();
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bool AllocateDIO(uint32_t channel, bool input);
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void FreeDIO(uint32_t channel);
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void SetDIO(uint32_t channel, short value);
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bool GetDIO(uint32_t channel);
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uint16_t GetDIO();
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bool GetDIODirection(uint32_t channel);
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uint16_t GetDIODirection();
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void Pulse(uint32_t channel, float pulseLength);
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bool IsPulsing(uint32_t channel);
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bool IsPulsing();
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uint32_t AllocateDO_PWM();
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void FreeDO_PWM(uint32_t pwmGenerator);
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void SetDO_PWMRate(float rate);
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void SetDO_PWMDutyCycle(uint32_t pwmGenerator, float dutyCycle);
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void SetDO_PWMOutputChannel(uint32_t pwmGenerator, uint32_t channel);
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uint16_t GetLoopTiming();
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static DigitalModule* GetInstance(uint8_t moduleNumber);
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static uint8_t RemapDigitalChannel(uint32_t channel)
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{
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return 15 - channel;
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} // TODO: Need channel validation
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static uint8_t UnmapDigitalChannel(uint32_t channel)
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{
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return 15 - channel;
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} // TODO: Need channel validation
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private:
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uint8_t m_module;
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void* m_digital_ports[kDigitalChannels];
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void* m_relay_ports[kRelayChannels];
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void* m_pwm_ports[kPwmChannels];
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};
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