frc::PWM Class Reference

Class implements the PWM generation in the FPGA. More...

#include <frc/PWM.h>

Inheritance diagram for frc::PWM:

Public Types
enum	OutputPeriod { kOutputPeriod_5Ms = 1 , kOutputPeriod_10Ms = 2 , kOutputPeriod_20Ms = 4 }
	Represents the output period in microseconds. More...

Public Member Functions
	PWM (int channel, bool registerSendable=true)
	Allocate a PWM given a channel number.
	PWM (PWM &&)=default
PWM &	operator= (PWM &&)=default
	~PWM () override
	Free the PWM channel.
void	SetPulseTime (units::microsecond_t time)
	Set the PWM pulse time directly to the hardware.
units::microsecond_t	GetPulseTime () const
	Get the PWM pulse time directly from the hardware.
void	SetDisabled ()
	Temporarily disables the PWM output.
void	SetOutputPeriod (OutputPeriod mult)
	Sets the PWM output period.
int	GetChannel () const
void	SetSimDevice (HAL_SimDeviceHandle device)
	Indicates this input is used by a simulated device.
Public Member Functions inherited from wpi::Sendable
virtual constexpr	~Sendable ()=default
Public Member Functions inherited from wpi::SendableHelper< PWM >
constexpr	SendableHelper (const SendableHelper &rhs)=default
constexpr	SendableHelper (SendableHelper &&rhs)
constexpr SendableHelper &	operator= (const SendableHelper &rhs)=default
constexpr SendableHelper &	operator= (SendableHelper &&rhs)

Protected Member Functions
void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object.
Protected Member Functions inherited from wpi::SendableHelper< PWM >
constexpr	SendableHelper ()=default
constexpr	~SendableHelper ()

Friends
class	AddressableLED

Detailed Description

Class implements the PWM generation in the FPGA.

The values supplied as arguments for PWM outputs range from -1.0 to 1.0. They are mapped to the microseconds to keep the pulse high, with a range of 0 (off) to 4096. Changes are immediately sent to the FPGA, and the update occurs at the next FPGA cycle (5.05ms). There is no delay.

Member Enumeration Documentation

OutputPeriod

enum frc::PWM::OutputPeriod

Represents the output period in microseconds.

Enumerator
kOutputPeriod_5Ms	PWM pulses occur every 5 ms.
kOutputPeriod_10Ms	PWM pulses occur every 10 ms.
kOutputPeriod_20Ms	PWM pulses occur every 20 ms.

Constructor & Destructor Documentation

PWM() [1/2]

frc::PWM::PWM ( int channel, bool registerSendable = true )

explicit

Allocate a PWM given a channel number.

Checks channel value range and allocates the appropriate channel. The allocation is only done to help users ensure that they don't double assign channels.

Parameters

channel	The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
registerSendable	If true, adds this instance to SendableRegistry

PWM() [2/2]

frc::PWM::PWM ( PWM && )

default

~PWM()

frc::PWM::~PWM ( )

override

Free the PWM channel.

Free the resource associated with the PWM channel and set the value to 0.

Member Function Documentation

GetChannel()

int frc::PWM::GetChannel

(

)

const

GetPulseTime()

units::microsecond_t frc::PWM::GetPulseTime

(

)

const

Get the PWM pulse time directly from the hardware.

Read a microsecond value from a PWM channel.

Returns

Microsecond PWM control value.

InitSendable()

void frc::PWM::InitSendable ( wpi::SendableBuilder & builder )

overrideprotectedvirtual

Initializes this Sendable object.

Parameters

builder

sendable builder

Implements wpi::Sendable.

operator=()

PWM & frc::PWM::operator= ( PWM && )

default

SetDisabled()

void frc::PWM::SetDisabled

(

)

Temporarily disables the PWM output.

The next set call will re-enable the output.

SetOutputPeriod()

void frc::PWM::SetOutputPeriod

(

OutputPeriod

mult

)

Sets the PWM output period.

Parameters

mult	The output period to apply to this channel

SetPulseTime()

void frc::PWM::SetPulseTime

(

units::microsecond_t

time

)

Set the PWM pulse time directly to the hardware.

Write a microsecond value to a PWM channel.

Parameters

time	Microsecond PWM value.

SetSimDevice()

void frc::PWM::SetSimDevice

(

HAL_SimDeviceHandle

device

)

Indicates this input is used by a simulated device.

Parameters

device

simulated device handle

Friends And Related Symbol Documentation

AddressableLED

friend class AddressableLED

friend

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The documentation for this class was generated from the following file:

• frc/PWM.h