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 PWMConfigDataResult	getPWMConfigMicroseconds(int pwmPortHandle)	Gets the pwm configuration settings for the PWM channel.
static boolean	getPWMEliminateDeadband(int pwmPortHandle)	Gets the current eliminate deadband value.
static double	getPWMPosition(int pwmPortHandle)	Gets a position value from a PWM channel.
static double	getPWMSpeed(int pwmPortHandle)	Gets a scaled value from a PWM channel.
static int	initializePWMPort(int halPortHandle)	Initializes a PWM port.
static void	latchPWMZero(int pwmPortHandle)	Forces a PWM signal to go to 0 temporarily.
static void	setAlwaysHighMode(int pwmPortHandle)	Sets the PWM output to be a continuous high signal while enabled.
static void	setPulseTimeMicroseconds(int pwmPortHandle, int microsecondPulseTime)	Sets a PWM channel to the desired pulse width in microseconds.
static void	setPWMConfigMicroseconds(int pwmPortHandle, int maxPwm, int deadbandMaxPwm, int centerPwm, int deadbandMinPwm, int minPwm)	Sets the configuration settings for the PWM channel.
static void	setPWMDisabled(int pwmPortHandle)	Sets a PWM channel to be disabled.
static void	setPWMEliminateDeadband(int pwmPortHandle, boolean eliminateDeadband)	Sets if the FPGA should output the center value if the input value is within the deadband.
static void	setPWMPeriodScale(int pwmPortHandle, int squelchMask)	Sets how how often the PWM signal is squelched, thus scaling the period.
static void	setPWMPosition(int pwmPortHandle, double position)	Sets a PWM channel to the desired position value.
static void	setPWMSpeed(int pwmPortHandle, double speed)	Sets a PWM channel to the desired scaled value.

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

allocateDigitalPWM, checkDIOChannel, freeDigitalPWM, freeDIOPort, getDIO, getDIODirection, getLoopTiming, 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 halPortHandle)

Initializes a PWM port.

Parameters:

halPortHandle - the port to initialize

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

setPWMConfigMicroseconds

public static void setPWMConfigMicroseconds(int pwmPortHandle,
 int maxPwm,
 int deadbandMaxPwm,
 int centerPwm,
 int deadbandMinPwm,
 int minPwm)

Sets the configuration settings for the PWM channel.

All values are in microseconds.

Parameters:

pwmPortHandle - the PWM handle

maxPwm - the maximum PWM value

deadbandMaxPwm - the high range of the center deadband

centerPwm - the center PWM value

deadbandMinPwm - the low range of the center deadband

minPwm - the minimum PWM value

getPWMConfigMicroseconds

public static PWMConfigDataResult getPWMConfigMicroseconds(int pwmPortHandle)

Gets the pwm configuration settings for the PWM channel.

Values are in microseconds.

Parameters:

pwmPortHandle - the PWM handle

Returns:

the pwm configuration settings

setPWMEliminateDeadband

public static void setPWMEliminateDeadband(int pwmPortHandle,
 boolean eliminateDeadband)

Sets if the FPGA should output the center value if the input value is within the deadband.

Parameters:

pwmPortHandle - the PWM handle

eliminateDeadband - true to eliminate deadband, otherwise false

getPWMEliminateDeadband

public static boolean getPWMEliminateDeadband(int pwmPortHandle)

Gets the current eliminate deadband value.

Parameters:

pwmPortHandle - the PWM handle

Returns:

true if set, otherwise false

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

setPWMSpeed

public static void setPWMSpeed(int pwmPortHandle,
 double speed)

Sets a PWM channel to the desired scaled value.

The values range from -1 to 1 and the period is controlled by the PWM Period and MinHigh registers.

Parameters:

pwmPortHandle - the PWM handle

speed - the scaled PWM value to set

setPWMPosition

public static void setPWMPosition(int pwmPortHandle,
 double position)

Sets a PWM channel to the desired position value.

The values range from 0 to 1 and the period is controlled by the PWM Period and MinHigh registers.

Parameters:

pwmPortHandle - the PWM handle

position - the positional 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

getPWMSpeed

public static double getPWMSpeed(int pwmPortHandle)

Gets a scaled value from a PWM channel.

The values range from -1 to 1.

Parameters:

pwmPortHandle - the PWM handle

Returns:

the current speed PWM value

getPWMPosition

public static double getPWMPosition(int pwmPortHandle)

Gets a position value from a PWM channel.

The values range from 0 to 1.

Parameters:

pwmPortHandle - the PWM handle

Returns:

the current positional PWM value

setPWMDisabled

public static void setPWMDisabled(int pwmPortHandle)

Sets a PWM channel to be disabled.

The channel is disabled until the next time it is set. Note this is different from just setting a 0 speed, as this will actively stop all signaling on the channel.

Parameters:

pwmPortHandle - the PWM handle.

latchPWMZero

public static void latchPWMZero(int pwmPortHandle)

Forces a PWM signal to go to 0 temporarily.

Parameters:

pwmPortHandle - the PWM handle.

setAlwaysHighMode

public static void setAlwaysHighMode(int pwmPortHandle)

Sets the PWM output to be a continuous high signal while enabled.

Parameters:

pwmPortHandle - the PWM handle.

setPWMPeriodScale

public static void setPWMPeriodScale(int pwmPortHandle,
 int squelchMask)

Sets how how often the PWM signal is squelched, thus scaling the period.

Parameters:

pwmPortHandle - the PWM handle.

squelchMask - the 2-bit mask of outputs to squelch