Package edu.wpi.first.hal

Class RelayJNI

java.lang.Object

edu.wpi.first.hal.JNIWrapper

edu.wpi.first.hal.DIOJNI

edu.wpi.first.hal.RelayJNI

public class RelayJNI
extends DIOJNI

Relay Output HAL JNI Functions.

See Also:

• "hal/Relay.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	checkRelayChannel(int channel)	Checks if a relay channel is valid.
static void	freeRelayPort(int relayPortHandle)	Frees a relay port.
static boolean	getRelay(int relayPortHandle)	Gets the current state of the relay channel.
static int	initializeRelayPort(int halPortHandle, boolean forward)	Initializes a relay.
static void	setRelay(int relayPortHandle, boolean on)	Sets the state of a relay output.

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

initializeRelayPort

public static int initializeRelayPort(int halPortHandle,
 boolean forward)

Initializes a relay.

Note this call will only initialize either the forward or reverse port of the relay. If you need both, you will need to initialize 2 relays.

Parameters:

halPortHandle - the port handle to initialize

forward - true for the forward port, false for the reverse port

Returns:

the created relay handle

See Also:

• "HAL_InitializeRelayPort"

freeRelayPort

public static void freeRelayPort(int relayPortHandle)

Frees a relay port.

Parameters:

relayPortHandle - the relay handle

See Also:

• "HAL_FreeRelayPort"

checkRelayChannel

public static boolean checkRelayChannel(int channel)

Checks if a relay channel is valid.

Parameters:

channel - the channel to check

Returns:

true if the channel is valid, otherwise false

See Also:

• "HAL_CheckRelayChannel"

setRelay

public static void setRelay(int relayPortHandle,
 boolean on)

Sets the state of a relay output.

Parameters:

relayPortHandle - the relay handle

on - true for on, false for off

See Also:

• "HAL_SetRelay"

getRelay

public static boolean getRelay(int relayPortHandle)

Gets the current state of the relay channel.

Parameters:

relayPortHandle - the relay handle

Returns:

true for on, false for off

See Also:

• "HAL_GetRelay"