Class DutyCycleJNI

java.lang.Object
edu.wpi.first.hal.JNIWrapper
edu.wpi.first.hal.DutyCycleJNI

public class DutyCycleJNI
extends JNIWrapper
DutyCycle HAL JNI functions.
See Also:
"DutyCycle.h"
  • Constructor Details

  • Method Details

    • initialize

      public static int initialize​(int digitalSourceHandle, int analogTriggerType)
      Initialize a DutyCycle input.
      Parameters:
      digitalSourceHandle - the digital source to use (either a Digital Handle or a AnalogTrigger Handle)
      analogTriggerType - the analog trigger type of the source if it is an analog trigger
      Returns:
      the created duty cycle handle
      See Also:
      "HAL_InitializeDutyCycle"
    • free

      public static void free​(int handle)
      Free a DutyCycle.
      Parameters:
      handle - the duty cycle handle
      See Also:
      "HAL_FreeDutyCycle"
    • getFrequency

      public static int getFrequency​(int handle)
      Get the frequency of the duty cycle signal.
      Parameters:
      handle - the duty cycle handle
      Returns:
      frequency in Hertz
      See Also:
      "HAL_GetDutyCycleFrequency"
    • getOutput

      public static double getOutput​(int handle)
      Get the output ratio of the duty cycle signal.

      0 means always low, 1 means always high.

      Parameters:
      handle - the duty cycle handle
      Returns:
      output ratio between 0 and 1
      See Also:
      "HAL_GetDutyCycleOutput"
    • getHighTime

      public static int getHighTime​(int handle)
      Get the raw high time of the duty cycle signal.
      Parameters:
      handle - the duty cycle handle
      Returns:
      high time of last pulse in nanoseconds
      See Also:
      "HAL_GetDutyCycleHighTime"
    • getOutputScaleFactor

      public static int getOutputScaleFactor​(int handle)
      Get the scale factor of the output.

      An output equal to this value is always high, and then linearly scales down to 0. Divide a raw result by this in order to get the percentage between 0 and 1. Used by DMA.

      Parameters:
      handle - the duty cycle handle
      Returns:
      the output scale factor
      See Also:
      "HAL_GetDutyCycleOutputScaleFactor"
    • getFPGAIndex

      public static int getFPGAIndex​(int handle)
      Get the FPGA index for the DutyCycle.
      Parameters:
      handle - the duty cycle handle
      Returns:
      the FPGA index
      See Also:
      "HAL_GetDutyCycleFPGAIndex"