wpi::romi::OnBoardIO Class Reference

This class represents the onboard IO of the Romi reference robot. More...

#include <wpi/romi/OnBoardIO.hpp>

Public Types
enum	ChannelMode { INPUT , OUTPUT }
	Mode for Romi onboard IO. More...

Public Member Functions
	OnBoardIO (OnBoardIO::ChannelMode dio1, OnBoardIO::ChannelMode dio2)
bool	GetButtonAPressed ()
	Gets if the A button is pressed.
bool	GetButtonBPressed ()
	Gets if the B button is pressed.
bool	GetButtonCPressed ()
	Gets if the C button is pressed.
void	SetGreenLed (bool value)
	Sets the green LED.
void	SetRedLed (bool value)
	Sets the red LED.
void	SetYellowLed (bool value)
	Sets the yellow LED.

Public Attributes
wpi::units::second_t	m_nextMessageTime = 0_s

Static Public Attributes
static constexpr auto	kMessageInterval = 1_s

Detailed Description

This class represents the onboard IO of the Romi reference robot.

This includes the pushbuttons and LEDs.

DIO 0 - Button A (input only) DIO 1 - Button B (input) or Green LED (output) DIO 2 - Button C (input) or Red LED (output) DIO 3 - Yellow LED (output only)

Member Enumeration Documentation

ChannelMode

enum wpi::romi::OnBoardIO::ChannelMode

Mode for Romi onboard IO.

Enumerator
INPUT	Input.
OUTPUT	Output.

Constructor & Destructor Documentation

OnBoardIO()

wpi::romi::OnBoardIO::OnBoardIO	(	OnBoardIO::ChannelMode	dio1,
		OnBoardIO::ChannelMode	dio2 )

Member Function Documentation

GetButtonAPressed()

bool wpi::romi::OnBoardIO::GetButtonAPressed

(

)

Gets if the A button is pressed.

GetButtonBPressed()

bool wpi::romi::OnBoardIO::GetButtonBPressed

(

)

Gets if the B button is pressed.

GetButtonCPressed()

bool wpi::romi::OnBoardIO::GetButtonCPressed

(

)

Gets if the C button is pressed.

SetGreenLed()

void wpi::romi::OnBoardIO::SetGreenLed

(

bool

value

)

Sets the green LED.

SetRedLed()

void wpi::romi::OnBoardIO::SetRedLed

(

bool

value

)

Sets the red LED.

SetYellowLed()

void wpi::romi::OnBoardIO::SetYellowLed

(

bool

value

)

Sets the yellow LED.

Member Data Documentation

kMessageInterval

auto wpi::romi::OnBoardIO::kMessageInterval = 1_s

staticconstexpr

m_nextMessageTime

wpi::units::second_t wpi::romi::OnBoardIO::m_nextMessageTime = 0_s

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

• wpi/romi/OnBoardIO.hpp