Package edu.wpi.first.hal

Class DIOJNI

java.lang.Object

edu.wpi.first.hal.JNIWrapper

edu.wpi.first.hal.DIOJNI

Direct Known Subclasses:

PWMJNI, RelayJNI

public class DIOJNI
extends JNIWrapper

Digital Input/Output (IO) JNI Functions.

See Also:

"hal/DIO.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 int	allocateDigitalPWM()	Allocates a DO PWM Generator.
static boolean	checkDIOChannel(int channel)	Checks if a DIO channel is valid.
static void	freeDigitalPWM(int pwmGenerator)	Frees the resource associated with a DO PWM generator.
static void	freeDIOPort(int dioPortHandle)	Frees a DIO port.
static boolean	getDIO(int dioPortHandle)	Reads a digital value from a DIO channel.
static boolean	getDIODirection(int dioPortHandle)	Reads the direction of a DIO channel.
static short	getLoopTiming()
static int	initializeDIOPort(int halPortHandle, boolean input)	Creates a new instance of a digital port.
static boolean	isAnyPulsing()	Checks if any DIO line is currently generating a pulse.
static boolean	isPulsing(int dioPortHandle)	Checks a DIO line to see if it is currently generating a pulse.
static void	pulse(int dioPortHandle, double pulseLengthSeconds)	Generates a single digital pulse.
static void	pulseMultiple(long channelMask, double pulseLengthSeconds)	Generates a single digital pulse on multiple channels.
static void	setDigitalPWMDutyCycle(int pwmGenerator, double dutyCycle)	Configures the duty-cycle of the PWM generator.
static void	setDigitalPWMOutputChannel(int pwmGenerator, int channel)	Configures which DO channel the PWM signal is output on.
static void	setDigitalPWMPPS(int pwmGenerator, double dutyCycle)	Configures the digital PWM to be a PPS signal with specified duty cycle.
static void	setDigitalPWMRate(double rate)	Changes the frequency of the DO PWM generator.
static void	setDIO(int dioPortHandle, boolean value)	Writes a digital value to a DIO channel.
static void	setDIODirection(int dioPortHandle, boolean input)	Sets the direction of a DIO channel.
static void	setDIOSimDevice(int handle, int device)	Indicates the DIO channel is used by a simulated device.

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

initializeDIOPort

public static int initializeDIOPort(int halPortHandle, boolean input)

Creates a new instance of a digital port.

Parameters:

halPortHandle - the port handle to create from

input - true for input, false for output

Returns:

the created digital handle

See Also:

"HAL_InitializeDIOPort"

checkDIOChannel

public static boolean checkDIOChannel(int channel)

Checks if a DIO channel is valid.

Parameters:

channel - the channel number to check

Returns:

true if the channel is valid, otherwise false

See Also:

"HAL_CheckDIOChannel"

freeDIOPort

public static void freeDIOPort(int dioPortHandle)

Frees a DIO port.

Parameters:

dioPortHandle - the DIO channel handle

See Also:

"HAL_FreeDIOPort"

setDIOSimDevice

public static void setDIOSimDevice(int handle, int device)

Indicates the DIO channel is used by a simulated device.

Parameters:

handle - the DIO channel handle

device - simulated device handle

See Also:

"HAL_SetDIOSimDevice"

setDIO

public static void setDIO(int dioPortHandle, boolean value)

Writes a digital value to a DIO channel.

Parameters:

dioPortHandle - the digital port handle

value - the state to set the digital channel (if it is configured as an output)

See Also:

"HAL_SetDIO"

setDIODirection

public static void setDIODirection(int dioPortHandle, boolean input)

Sets the direction of a DIO channel.

Parameters:

dioPortHandle - the digital port handle

input - true to set input, false for output

See Also:

"HAL_SetDIODirection"

getDIO

public static boolean getDIO(int dioPortHandle)

Reads a digital value from a DIO channel.

Parameters:

dioPortHandle - the digital port handle

Returns:

the state of the specified channel

See Also:

"HAL_GetDIO"

getDIODirection

public static boolean getDIODirection(int dioPortHandle)

Reads the direction of a DIO channel.

Parameters:

dioPortHandle - the digital port handle

Returns:

true for input, false for output

See Also:

"HAL_GetDIODirection"

pulse

public static void pulse(int dioPortHandle, double pulseLengthSeconds)

Generates a single digital pulse.

Write a pulse to the specified digital output channel. There can only be a single pulse going at any time.

Parameters:

dioPortHandle - the digital port handle

pulseLengthSeconds - the active length of the pulse (in seconds)

See Also:

"HAL_Pulse"

pulseMultiple

public static void pulseMultiple(long channelMask, double pulseLengthSeconds)

Generates a single digital pulse on multiple channels.

Write a pulse to the channels enabled by the mask. There can only be a single pulse going at any time.

Parameters:

channelMask - the channel mask

pulseLengthSeconds - the active length of the pulse (in seconds)

See Also:

"HAL_PulseMultiple"

isPulsing

public static boolean isPulsing(int dioPortHandle)

Checks a DIO line to see if it is currently generating a pulse.

Parameters:

dioPortHandle - the digital port handle

Returns:

true if a pulse is in progress, otherwise false

See Also:

"HAL_IsPulsing"

isAnyPulsing

public static boolean isAnyPulsing()

Checks if any DIO line is currently generating a pulse.

Returns:

true if a pulse on some line is in progress

See Also:

"HAL_IsAnyPulsing"

getLoopTiming

public static short getLoopTiming()

allocateDigitalPWM

public static int allocateDigitalPWM()

Allocates a DO PWM Generator.

Returns:

the allocated digital PWM handle

freeDigitalPWM

public static void freeDigitalPWM(int pwmGenerator)

Frees the resource associated with a DO PWM generator.

Parameters:

pwmGenerator - the digital PWM handle

See Also:

"HAL_FreeDigitalPWM"

setDigitalPWMRate

public static void setDigitalPWMRate(double rate)

Changes the frequency of the DO PWM generator.

The valid range is from 0.6 Hz to 19 kHz.

The frequency resolution is logarithmic.

Parameters:

rate - the frequency to output all digital output PWM signals

See Also:

"HAL_SetDigitalPWMRate"

setDigitalPWMDutyCycle

public static void setDigitalPWMDutyCycle(int pwmGenerator, double dutyCycle)

Configures the duty-cycle of the PWM generator.

Parameters:

pwmGenerator - the digital PWM handle

dutyCycle - the percent duty cycle to output [0..1]

See Also:

"HAL_SetDigitalPWMDutyCycle"

setDigitalPWMPPS

public static void setDigitalPWMPPS(int pwmGenerator, double dutyCycle)

Configures the digital PWM to be a PPS signal with specified duty cycle.

Parameters:

pwmGenerator - the digital PWM handle

dutyCycle - the percent duty cycle to output [0..1]

See Also:

"HAL_SetDigitalPWMPPS"

setDigitalPWMOutputChannel

public static void setDigitalPWMOutputChannel(int pwmGenerator, int channel)

Configures which DO channel the PWM signal is output on.

Parameters:

pwmGenerator - the digital PWM handle

channel - the channel to output on

See Also:

"HAL_SetDigitalPWMOutputChannel"