mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
58021f7397
AnalogModule and DigitalModule classes still exist, at least until they are refactored into the classes that use them. Change-Id: I5544d5418822f19d54ba0a5d651e64fad8b7b10d
59 lines
1.9 KiB
C++
59 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "DigitalSource.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
#include "tables/ITableListener.h"
|
|
|
|
class DigitalModule;
|
|
|
|
/**
|
|
* 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();
|
|
void Pulse(float length);
|
|
bool IsPulsing();
|
|
void SetPWMRate(float rate);
|
|
void EnablePWM(float initialDutyCycle);
|
|
void DisablePWM();
|
|
void UpdateDutyCycle(float dutyCycle);
|
|
|
|
// Digital Source Interface
|
|
virtual uint32_t GetChannelForRouting();
|
|
virtual uint32_t GetModuleForRouting();
|
|
virtual bool GetAnalogTriggerForRouting();
|
|
virtual void RequestInterrupts(InterruptHandlerFunction handler, void *param);
|
|
virtual void RequestInterrupts();
|
|
|
|
void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
|
|
|
|
virtual void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
|
|
void UpdateTable();
|
|
void StartLiveWindowMode();
|
|
void StopLiveWindowMode();
|
|
std::string GetSmartDashboardType();
|
|
void InitTable(ITable *subTable);
|
|
ITable * GetTable();
|
|
|
|
private:
|
|
void InitDigitalOutput(uint32_t channel);
|
|
|
|
uint32_t m_channel;
|
|
uint32_t m_pwmGenerator;
|
|
DigitalModule *m_module;
|
|
|
|
ITable *m_table;
|
|
};
|