Package edu.wpi.first.wpilibj.simulation

Class PWMSim

java.lang.Object

edu.wpi.first.wpilibj.simulation.PWMSim

public class PWMSim
extends Object

Class to control a simulated PWM output.

Constructor Summary

Constructors

Constructor	Description
PWMSim(int channel)	Constructs from a PWM channel number.
PWMSim(PWMMotorController motorctrl)	Constructs from a PWMMotorController object.
PWMSim(PWM pwm)	Constructs from a PWM object.

Method Summary

Modifier and Type	Method	Description
boolean	getInitialized()	Check whether the PWM has been initialized.
int	getPeriodScale()	Get the PWM period scale.
double	getPosition()	Get the PWM position.
int	getPulseMicrosecond()	Get the PWM pulse microsecond value.
double	getSpeed()	Get the PWM speed.
boolean	getZeroLatch()	Check whether the PWM is zero latched.
CallbackStore	registerInitializedCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the PWM is initialized.
CallbackStore	registerPeriodScaleCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the PWM period scale changes.
CallbackStore	registerPositionCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the PWM position changes.
CallbackStore	registerPulseMicrosecondCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the PWM raw value changes.
CallbackStore	registerSpeedCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the PWM speed changes.
CallbackStore	registerZeroLatchCallback(NotifyCallback callback, boolean initialNotify)	Register a callback to be run when the PWM zero latch state changes.
void	resetData()	Reset all simulation data.
void	setInitialized(boolean initialized)	Define whether the PWM has been initialized.
void	setPeriodScale(int periodScale)	Set the PWM period scale.
void	setPosition(double position)	Set the PWM position.
void	setPulseMicrosecond(int microsecondPulseTime)	Set the PWM pulse microsecond value.
void	setSpeed(double speed)	Set the PWM speed.
void	setZeroLatch(boolean zeroLatch)	Define whether the PWM has been zero latched.

Methods inherited from class java.lang.Object

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

Constructor Details

PWMSim

public PWMSim(PWM pwm)

Constructs from a PWM object.

Parameters:

pwm - PWM to simulate

PWMSim

public PWMSim(PWMMotorController motorctrl)

Constructs from a PWMMotorController object.

Parameters:

motorctrl - PWMMotorController to simulate

PWMSim

public PWMSim(int channel)

Constructs from a PWM channel number.

Parameters:

channel - Channel number

Method Details

registerInitializedCallback

public CallbackStore registerInitializedCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run when the PWM is initialized.

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getInitialized

public boolean getInitialized()

Check whether the PWM has been initialized.

Returns:

true if initialized

setInitialized

public void setInitialized(boolean initialized)

Define whether the PWM has been initialized.

Parameters:

initialized - whether this object is initialized

registerPulseMicrosecondCallback

public CallbackStore registerPulseMicrosecondCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run when the PWM raw value changes.

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getPulseMicrosecond

public int getPulseMicrosecond()

Get the PWM pulse microsecond value.

Returns:

the PWM pulse microsecond value

setPulseMicrosecond

public void setPulseMicrosecond(int microsecondPulseTime)

Set the PWM pulse microsecond value.

Parameters:

microsecondPulseTime - the PWM pulse microsecond value

registerSpeedCallback

public CallbackStore registerSpeedCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run when the PWM speed changes.

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getSpeed

public double getSpeed()

Get the PWM speed.

Returns:

the PWM speed (-1.0 to 1.0)

setSpeed

public void setSpeed(double speed)

Set the PWM speed.

Parameters:

speed - the PWM speed (-1.0 to 1.0)

registerPositionCallback

public CallbackStore registerPositionCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run when the PWM position changes.

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getPosition

public double getPosition()

Get the PWM position.

Returns:

the PWM position (0.0 to 1.0)

setPosition

public void setPosition(double position)

Set the PWM position.

Parameters:

position - the PWM position (0.0 to 1.0)

registerPeriodScaleCallback

public CallbackStore registerPeriodScaleCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run when the PWM period scale changes.

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial value

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getPeriodScale

public int getPeriodScale()

Get the PWM period scale.

Returns:

the PWM period scale

setPeriodScale

public void setPeriodScale(int periodScale)

Set the PWM period scale.

Parameters:

periodScale - the PWM period scale

registerZeroLatchCallback

public CallbackStore registerZeroLatchCallback(NotifyCallback callback, boolean initialNotify)

Register a callback to be run when the PWM zero latch state changes.

Parameters:

callback - the callback

initialNotify - whether to run the callback with the initial state

Returns:

the CallbackStore object associated with this callback. Save a reference to this object so GC doesn't cancel the callback.

getZeroLatch

public boolean getZeroLatch()

Check whether the PWM is zero latched.

Returns:

true if zero latched

setZeroLatch

public void setZeroLatch(boolean zeroLatch)

Define whether the PWM has been zero latched.

Parameters:

zeroLatch - true to indicate zero latched

resetData

public void resetData()

Reset all simulation data.