Package edu.wpi.first.wpilibj

Class DigitalOutput

java.lang.Object
edu.wpi.first.wpilibj.DigitalSource
edu.wpi.first.wpilibj.DigitalOutput
All Implemented Interfaces:
Sendable, AutoCloseable
public class DigitalOutput
extends DigitalSource
implements Sendable
Class to write digital outputs. This class will write digital outputs. Other devices that are implemented elsewhere will automatically allocate digital inputs and outputs as required.

  • Constructor Summary

    Constructors 
    Constructor Description
    DigitalOutput​(int channel)
    Create an instance of a digital output.

  • Method Summary

    Modifier and Type Method Description
    void close()  
    void disablePWM()
    Change this line from a PWM output back to a static Digital Output line.
    void enablePPS​(double dutyCycle)
    Enable a PWM PPS (Pulse Per Second) Output on this line.
    void enablePWM​(double initialDutyCycle)
    Enable a PWM Output on this line.
    boolean get()
    Gets the value being output from the Digital Output.
    int getAnalogTriggerTypeForRouting()
    Get the analog trigger type.
    int getChannel()
    Get the GPIO channel number that this object represents.
    int getPortHandleForRouting()
    Get the HAL Port Handle.
    void initSendable​(SendableBuilder builder)
    Initializes this Sendable object.
    boolean isAnalogTrigger()
    Is this an analog trigger.
    boolean isPulsing()
    Determine if the pulse is still going.
    void pulse​(double pulseLengthSeconds)
    Output a single pulse on the digital output line.
    void set​(boolean value)
    Set the value of a digital output.
    void setPWMRate​(double rate)
    Change the PWM frequency of the PWM output on a Digital Output line.
    void setSimDevice​(SimDevice device)
    Indicates this input is used by a simulated device.
    void updateDutyCycle​(double dutyCycle)
    Change the duty-cycle that is being generated on the line.

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • DigitalOutput

      public DigitalOutput​(int channel)
      Create an instance of a digital output. Create an instance of a digital output given a channel.
      Parameters:
      channel - the DIO channel to use for the digital output. 0-9 are on-board, 10-25 are on the MXP

  • Method Details

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable
      Overrides:
      close in class DigitalSource

    • set

      public void set​(boolean value)
      Set the value of a digital output.
      Parameters:
      value - true is on, off is false

    • get

      public boolean get()
      Gets the value being output from the Digital Output.
      Returns:
      the state of the digital output.

    • getChannel

      public int getChannel()
      Get the GPIO channel number that this object represents.
      Specified by:
      getChannel in class DigitalSource
      Returns:
      The GPIO channel number.

    • pulse

      public void pulse​(double pulseLengthSeconds)
      Output a single pulse on the digital output line.

      Send a single pulse on the digital output line where the pulse duration is specified in seconds. Maximum of 65535 microseconds.

      Parameters:
      pulseLengthSeconds - The pulse length in seconds

    • isPulsing

      public boolean isPulsing()
      Determine if the pulse is still going. Determine if a previously started pulse is still going.
      Returns:
      true if pulsing

    • setPWMRate

      public void setPWMRate​(double rate)
      Change the PWM frequency of the PWM output on a Digital Output line.

      The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is logarithmic.

      There is only one PWM frequency for all channels.

      Parameters:
      rate - The frequency to output all digital output PWM signals.

    • enablePPS

      public void enablePPS​(double dutyCycle)
      Enable a PWM PPS (Pulse Per Second) Output on this line.

      Allocate one of the 6 DO PWM generator resources.

      Supply the duty-cycle to output.

      The resolution of the duty cycle is 8-bit.

      Parameters:
      dutyCycle - The duty-cycle to start generating. [0..1]

    • enablePWM

      public void enablePWM​(double initialDutyCycle)
      Enable a PWM Output on this line.

      Allocate one of the 6 DO PWM generator resources.

      Supply the initial duty-cycle to output in order to avoid a glitch when first starting.

      The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) but is reduced the higher the frequency of the PWM signal is.

      Parameters:
      initialDutyCycle - The duty-cycle to start generating. [0..1]

    • disablePWM

      public void disablePWM()
      Change this line from a PWM output back to a static Digital Output line.

      Free up one of the 6 DO PWM generator resources that were in use.

    • updateDutyCycle

      public void updateDutyCycle​(double dutyCycle)
      Change the duty-cycle that is being generated on the line.

      The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) but is reduced the higher the frequency of the PWM signal is.

      Parameters:
      dutyCycle - The duty-cycle to change to. [0..1]

    • setSimDevice

      public void setSimDevice​(SimDevice device)
      Indicates this input is used by a simulated device.
      Parameters:
      device - simulated device handle

    • initSendable

      public void initSendable​(SendableBuilder builder)
      Description copied from interface: Sendable
      Initializes this Sendable object.
      Specified by:
      initSendable in interface Sendable
      Parameters:
      builder - sendable builder

    • isAnalogTrigger

      public boolean isAnalogTrigger()
      Is this an analog trigger.
      Specified by:
      isAnalogTrigger in class DigitalSource
      Returns:
      true if this is an analog trigger

    • getAnalogTriggerTypeForRouting

      public int getAnalogTriggerTypeForRouting()
      Get the analog trigger type.
      Specified by:
      getAnalogTriggerTypeForRouting in class DigitalSource
      Returns:
      false

    • getPortHandleForRouting

      public int getPortHandleForRouting()
      Get the HAL Port Handle.
      Specified by:
      getPortHandleForRouting in class DigitalSource
      Returns:
      The HAL Handle to the specified source.