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()
    Gets the loop timing of the PWM system.
    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()
      Gets the loop timing of the PWM system.
      Returns:
      the loop time in clock ticks

    • 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"