XRPOnBoardIO.hpp

Go to the documentation of this file.

// 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 <memory>
 
#include "wpi/hardware/discrete/DigitalInput.hpp"
#include "wpi/hardware/discrete/DigitalOutput.hpp"
#include "wpi/units/time.hpp"
 
namespace wpi::xrp {
 
/**
 * @ingroup xrp_api
 * @{
 */
 
/**
 * This class represents the onboard IO of the XRP
 * reference robot. This the USER push button and
 * LED.
 *
 * <p>DIO 0 - USER Button (input only)
 * DIO 1 - LED (output only)
 */
class XRPOnBoardIO {
 public:
  XRPOnBoardIO() {}  // No need to do anything. No configurable IO
 
  static constexpr auto kMessageInterval = 1_s;
  wpi::units::second_t m_nextMessageTime = 0_s;
 
  /**
   * Gets if the USER button is pressed.
   *
   * @return True if the USER button is currently pressed.
   */
  bool GetUserButtonPressed();
 
  /**
   * Sets the yellow LED.
   *
   * @param value True to activate LED, false otherwise.
   */
  void SetLed(bool value);
 
  /**
   * Gets the state of the yellow LED.
   *
   * @return True if LED is active, false otherwise.
   */
  bool GetLed() const;
 
 private:
  wpi::DigitalInput m_userButton{0};
  wpi::DigitalOutput m_led{1};
};
 
/** @} */
 
}  // namespace wpi::xrp