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

  • 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