mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-22 01:11:42 +00:00
8f1f64ffb6
Also update copyright to include "and other WPILib contributors" and clarify license referral language to not be restricted to FIRST teams.
88 lines
2.3 KiB
C++
88 lines
2.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include "frc/DigitalSource.h"
|
|
#include "frc/smartdashboard/Sendable.h"
|
|
#include "frc/smartdashboard/SendableHelper.h"
|
|
|
|
namespace frc {
|
|
|
|
class DigitalGlitchFilter;
|
|
class SendableBuilder;
|
|
|
|
/**
|
|
* Class to read a digital input.
|
|
*
|
|
* This class will read digital inputs and return the current value on the
|
|
* channel. Other devices such as encoders, gear tooth sensors, etc. that are
|
|
* implemented elsewhere will automatically allocate digital inputs and outputs
|
|
* as required. This class is only for devices like switches etc. that aren't
|
|
* implemented anywhere else.
|
|
*/
|
|
class DigitalInput : public DigitalSource,
|
|
public Sendable,
|
|
public SendableHelper<DigitalInput> {
|
|
public:
|
|
/**
|
|
* Create an instance of a Digital Input class.
|
|
*
|
|
* Creates a digital input given a channel.
|
|
*
|
|
* @param channel The DIO channel 0-9 are on-board, 10-25 are on the MXP port
|
|
*/
|
|
explicit DigitalInput(int channel);
|
|
|
|
~DigitalInput() override;
|
|
|
|
DigitalInput(DigitalInput&&) = default;
|
|
DigitalInput& operator=(DigitalInput&&) = default;
|
|
|
|
/**
|
|
* Get the value from a digital input channel.
|
|
*
|
|
* Retrieve the value of a single digital input channel from the FPGA.
|
|
*/
|
|
bool Get() const;
|
|
|
|
// Digital Source Interface
|
|
/**
|
|
* @return The HAL Handle to the specified source.
|
|
*/
|
|
HAL_Handle GetPortHandleForRouting() const override;
|
|
|
|
/**
|
|
* @return The type of analog trigger output to be used. 0 for Digitals
|
|
*/
|
|
AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
|
|
|
|
/**
|
|
* Is source an AnalogTrigger
|
|
*/
|
|
bool IsAnalogTrigger() const override;
|
|
|
|
/**
|
|
* @return The GPIO channel number that this object represents.
|
|
*/
|
|
int GetChannel() const override;
|
|
|
|
/**
|
|
* Indicates this input is used by a simulated device.
|
|
*
|
|
* @param device simulated device handle
|
|
*/
|
|
void SetSimDevice(HAL_SimDeviceHandle device);
|
|
|
|
void InitSendable(SendableBuilder& builder) override;
|
|
|
|
private:
|
|
int m_channel;
|
|
hal::Handle<HAL_DigitalHandle> m_handle;
|
|
|
|
friend class DigitalGlitchFilter;
|
|
};
|
|
|
|
} // namespace frc
|