Package edu.wpi.first.hal

Class PWMJNI

java.lang.Object

edu.wpi.first.hal.JNIWrapper

edu.wpi.first.hal.DIOJNI

edu.wpi.first.hal.PWMJNI

public class PWMJNI
extends DIOJNI

PWM JNI Functions.

See Also:

• "hal/PWM.h"

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.hal.JNIWrapper

JNIWrapper.Helper

Method Summary

Modifier and Type	Method	Description
static boolean	checkPWMChannel(int channel)	Checks if a pwm channel is valid.
static void	freePWMPort(int pwmPortHandle)	Frees a PWM port.
static int	getPulseTimeMicroseconds(int pwmPortHandle)	Gets the current microsecond pulse time from a PWM channel.
static int	initializePWMPort(int channel)	Initializes a PWM port.
static void	setPulseTimeMicroseconds(int pwmPortHandle, int microsecondPulseTime)	Sets a PWM channel to the desired pulse width in microseconds.
static void	setPWMOutputPeriod(int pwmPortHandle, int period)	Sets the PWM output period.
static void	setPWMSimDevice(int handle, int device)	Indicates the pwm is used by a simulated device.

Methods inherited from class edu.wpi.first.hal.DIOJNI

allocateDigitalPWM, checkDIOChannel, freeDigitalPWM, freeDIOPort, getDIO, getDIODirection, initializeDIOPort, isAnyPulsing, isPulsing, pulse, pulseMultiple, setDigitalPWMDutyCycle, setDigitalPWMOutputChannel, setDigitalPWMPPS, setDigitalPWMRate, setDIO, setDIODirection, setDIOSimDevice

Methods inherited from class edu.wpi.first.hal.JNIWrapper

forceLoad, suppressUnused

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

initializePWMPort

public static int initializePWMPort(int channel)

Initializes a PWM port.

Parameters:

channel - the smartio channel

Returns:

the created pwm handle

checkPWMChannel

public static boolean checkPWMChannel(int channel)

Checks if a pwm channel is valid.

Parameters:

channel - the channel to check

Returns:

true if the channel is valid, otherwise false

freePWMPort

public static void freePWMPort(int pwmPortHandle)

Frees a PWM port.

Parameters:

pwmPortHandle - the pwm handle

setPWMSimDevice

public static void setPWMSimDevice(int handle,
 int device)

Indicates the pwm is used by a simulated device.

Parameters:

handle - the pwm handle

device - simulated device handle

See Also:

• "HAL_SetPWMSimDevice"

setPulseTimeMicroseconds

public static void setPulseTimeMicroseconds(int pwmPortHandle,
 int microsecondPulseTime)

Sets a PWM channel to the desired pulse width in microseconds.

Parameters:

pwmPortHandle - the PWM handle

microsecondPulseTime - the PWM value to set

getPulseTimeMicroseconds

public static int getPulseTimeMicroseconds(int pwmPortHandle)

Gets the current microsecond pulse time from a PWM channel.

Parameters:

pwmPortHandle - the PWM handle

Returns:

the current PWM microsecond pulse time

setPWMOutputPeriod

public static void setPWMOutputPeriod(int pwmPortHandle,
 int period)

Sets the PWM output period.

Parameters:

pwmPortHandle - the PWM handle.

period - 0 for 5ms, 1 or 2 for 10ms, 3 for 20ms