Class to write to digital outputs. More...

#include <frc/DigitalOutput.h>

Inheritance diagram for frc::DigitalOutput:

Public Member Functions
	DigitalOutput (int channel)
	Create an instance of a digital output. More...

	~DigitalOutput () override

	DigitalOutput (DigitalOutput &&)=default

DigitalOutput &	operator= (DigitalOutput &&)=default

void	Set (bool value)
	Set the value of a digital output. More...

bool	Get () const
	Gets the value being output from the Digital Output. More...

HAL_Handle	GetPortHandleForRouting () const override

AnalogTriggerType	GetAnalogTriggerTypeForRouting () const override

bool	IsAnalogTrigger () const override
	Is source an AnalogTrigger. More...

int	GetChannel () const override

void	Pulse (units::second_t pulseLength)
	Output a single pulse on the digital output line. More...

bool	IsPulsing () const
	Determine if the pulse is still going. More...

void	SetPWMRate (double rate)
	Change the PWM frequency of the PWM output on a Digital Output line. More...

void	EnablePPS (double dutyCycle)
	Enable a PWM PPS (Pulse Per Second) Output on this line. More...

void	EnablePWM (double initialDutyCycle)
	Enable a PWM Output on this line. More...

void	DisablePWM ()
	Change this line from a PWM output back to a static Digital Output line. More...

void	UpdateDutyCycle (double dutyCycle)
	Change the duty-cycle that is being generated on the line. More...

void	SetSimDevice (HAL_SimDeviceHandle device)
	Indicates this output is used by a simulated device. More...

void	InitSendable (wpi::SendableBuilder &builder) override
	Initializes this Sendable object. More...

Public Member Functions inherited from frc::DigitalSource
	DigitalSource ()=default

	DigitalSource (DigitalSource &&)=default

DigitalSource &	operator= (DigitalSource &&)=default

virtual HAL_Handle	GetPortHandleForRouting () const =0

virtual AnalogTriggerType	GetAnalogTriggerTypeForRouting () const =0

virtual bool	IsAnalogTrigger () const =0

virtual int	GetChannel () const =0

Public Member Functions inherited from wpi::Sendable
virtual	~Sendable ()=default

virtual void	InitSendable (SendableBuilder &builder)=0
	Initializes this Sendable object. More...

Public Member Functions inherited from wpi::SendableHelper< DigitalOutput >
	SendableHelper (const SendableHelper &rhs)=default

	SendableHelper (SendableHelper &&rhs)

SendableHelper &	operator= (const SendableHelper &rhs)=default

SendableHelper &	operator= (SendableHelper &&rhs)

Additional Inherited Members
Protected Member Functions inherited from wpi::SendableHelper< DigitalOutput >
	SendableHelper ()=default

	~SendableHelper ()

Detailed Description

Class to write to digital outputs.

Write values to the digital output channels. Other devices implemented elsewhere will allocate channels automatically so for those devices it shouldn't be done here.

Constructor & Destructor Documentation

◆ DigitalOutput() [1/2]

frc::DigitalOutput::DigitalOutput ( int channel )

explicit

Create an instance of a digital output.

Create a digital output given a channel.

Parameters

channel The digital channel 0-9 are on-board, 10-25 are on the MXP port

◆ ~DigitalOutput()

frc::DigitalOutput::~DigitalOutput ( )

override

◆ DigitalOutput() [2/2]

frc::DigitalOutput::DigitalOutput ( DigitalOutput && )

default

Member Function Documentation

◆ DisablePWM()

void frc::DigitalOutput::DisablePWM ( )

Change this line from a PWM output back to a static Digital Output line.

Free up one of the 6 DO PWM generator resources that were in use.

◆ EnablePPS()

void frc::DigitalOutput::EnablePPS ( double dutyCycle )

Enable a PWM PPS (Pulse Per Second) Output on this line.

Allocate one of the 6 DO PWM generator resources from this module.

Supply the duty-cycle to output.

The resolution of the duty cycle is 8-bit.

Parameters

dutyCycle The duty-cycle to start generating. [0..1]

◆ EnablePWM()

void frc::DigitalOutput::EnablePWM ( double initialDutyCycle )

Enable a PWM Output on this line.

Allocate one of the 6 DO PWM generator resources from this module.

Supply the initial duty-cycle to output so as to avoid a glitch when first starting.

The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) but is reduced the higher the frequency of the PWM signal is.

Parameters

initialDutyCycle The duty-cycle to start generating. [0..1]

◆ Get()

bool frc::DigitalOutput::Get ( ) const

Gets the value being output from the Digital Output.

Returns: the state of the digital output.

◆ GetAnalogTriggerTypeForRouting()

AnalogTriggerType frc::DigitalOutput::GetAnalogTriggerTypeForRouting ( ) const

overridevirtual

Returns: The type of analog trigger output to be used. 0 for Digitals

Implements frc::DigitalSource.

◆ GetChannel()

int frc::DigitalOutput::GetChannel ( ) const

overridevirtual

Returns: The GPIO channel number that this object represents.

Implements frc::DigitalSource.

◆ GetPortHandleForRouting()

HAL_Handle frc::DigitalOutput::GetPortHandleForRouting ( ) const

overridevirtual

Returns: The HAL Handle to the specified source.

Implements frc::DigitalSource.

◆ InitSendable()

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

overridevirtual

Initializes this Sendable object.

Parameters

builder sendable builder

Implements wpi::Sendable.

◆ IsAnalogTrigger()

bool frc::DigitalOutput::IsAnalogTrigger ( ) const

overridevirtual

Is source an AnalogTrigger.

Implements frc::DigitalSource.

◆ IsPulsing()

bool frc::DigitalOutput::IsPulsing ( ) const

Determine if the pulse is still going.

Determine if a previously started pulse is still going.

◆ operator=()

DigitalOutput & frc::DigitalOutput::operator= ( DigitalOutput && )

default

◆ Pulse()

void frc::DigitalOutput::Pulse ( units::second_t pulseLength )

Output a single pulse on the digital output line.

Send a single pulse on the digital output line where the pulse duration is specified in seconds. Maximum of 65535 microseconds.

Parameters

pulseLength The pulse length in seconds

◆ Set()

void frc::DigitalOutput::Set ( bool value )

Set the value of a digital output.

Set the value of a digital output to either one (true) or zero (false).

Parameters

value 1 (true) for high, 0 (false) for disabled

◆ SetPWMRate()

void frc::DigitalOutput::SetPWMRate ( double rate )

Change the PWM frequency of the PWM output on a Digital Output line.

The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is logarithmic.

There is only one PWM frequency for all digital channels.

Parameters

rate	The frequency to output all digital output PWM signals.

◆ SetSimDevice()

void frc::DigitalOutput::SetSimDevice ( HAL_SimDeviceHandle device )

Indicates this output is used by a simulated device.

Parameters

device simulated device handle

◆ UpdateDutyCycle()

void frc::DigitalOutput::UpdateDutyCycle ( double dutyCycle )

Change the duty-cycle that is being generated on the line.

The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) but is reduced the higher the frequency of the PWM signal is.

Parameters

dutyCycle The duty-cycle to change to. [0..1]

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

frc/DigitalOutput.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DigitalOutput() [1/2]

◆ ~DigitalOutput()

◆ DigitalOutput() [2/2]

Member Function Documentation

◆ DisablePWM()

◆ EnablePPS()

◆ EnablePWM()

◆ Get()

◆ GetAnalogTriggerTypeForRouting()

◆ GetChannel()

◆ GetPortHandleForRouting()

◆ InitSendable()

◆ IsAnalogTrigger()

◆ IsPulsing()

◆ operator=()

◆ Pulse()

◆ Set()

◆ SetPWMRate()

◆ SetSimDevice()

◆ UpdateDutyCycle()