io.github.robolib.module.iface

Class DigitalIO

java.lang.Object

io.github.robolib.module.iface.Interface

io.github.robolib.module.iface.InterruptBase

io.github.robolib.module.iface.DigitalIO

Direct Known Subclasses:

AnalogTriggerOutput, DigitalInput, DigitalOutput

public abstract class DigitalIO
extends InterruptBase

The Class DigitalIO.

Author:

noriah

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	DigitalIO.DigitalChannel The Enum Channel.
static class	DigitalIO.Direction The Enum Direction.

Nested classes/interfaces inherited from class io.github.robolib.module.iface.Interface

Interface.InterfaceType

Field Summary

Fields

Modifier and Type	Field and Description
protected DigitalIO.DigitalChannel	m_channel The DigitalIO Channel this DigitalIO is operating on.
protected DigitalIO.Direction	m_direction The direction of this digital io.
protected java.nio.ByteBuffer	m_port The The RoboRIO port identifier.
private static boolean[]	USED_CHANNELS Keep track of already used channels.

Fields inherited from class io.github.robolib.module.iface.InterruptBase

m_interrupt, m_interruptIndex, m_isSyncInterrupt

Fields inherited from class io.github.robolib.module.iface.Interface

m_ifaceType, MAX_ANALOG_IN_CHANNELS, MAX_ANALOG_OUT_CHANNELS, MAX_DIGITAL_CHANNELS, MAX_PWM_CHANNELS, MAX_RELAY_CHANNELS

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	DigitalIO() Constructor for use with analog trigger output.
protected	DigitalIO(DigitalIO.DigitalChannel channel, DigitalIO.Direction dir) Instantiates a new DigitalIO.

Method Summary

Modifier and Type	Method and Description
private void	allocateChannel(DigitalIO.DigitalChannel channel) Allocate a DigitalIO channel.
void	free() Free the DigitalIO channel.
private void	freeChannel(DigitalIO.DigitalChannel channel) Free a DigitalIO channel.
DigitalIO.DigitalChannel	getChannel() The channel this DigitalIO is operating on.
java.lang.String	getChannelName() The channel this DigitalIO is operating on, in string form.
int	getChannelNumber() The channel this DigitalIO is operating on, in integer form.
byte	getModuleNumber() Get the module number for this interrupt.
boolean	isAnalogTrigger() Get whether this interrupt is an analog trigger or not

Methods inherited from class io.github.robolib.module.iface.InterruptBase

allocateInterrupt, cancelInterrupt, disableInterrupts, enableInterrupts, readFallingTimestamp, readRisingTimestamp, requestInterrupt, requestInterrupt, setUpSourceEdge, validateInterrupt, waitForInterrupt, waitForInterrupt

Methods inherited from class io.github.robolib.module.iface.Interface

allocateMXPPin, checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPWMChannel, checkRelayChannel, freeMXPPin, getInterfaceType

Methods inherited from class java.lang.Object

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

Field Detail

USED_CHANNELS

private static final boolean[] USED_CHANNELS

Keep track of already used channels.

m_port

protected java.nio.ByteBuffer m_port

The The RoboRIO port identifier.

m_channel

protected DigitalIO.DigitalChannel m_channel

The DigitalIO Channel this DigitalIO is operating on.

m_direction

protected DigitalIO.Direction m_direction

The direction of this digital io.

Constructor Detail

DigitalIO

protected DigitalIO(DigitalIO.DigitalChannel channel,
                    DigitalIO.Direction dir)

Instantiates a new DigitalIO.

Parameters:

channel - the channel for this DigitalIO

DigitalIO

protected DigitalIO()

Constructor for use with analog trigger output. NOTHING ELSE!!!

Method Detail

free

public final void free()

Free the DigitalIO channel. Free the resource associated with the Digital IO channel and set the value to 0.

allocateChannel

private final void allocateChannel(DigitalIO.DigitalChannel channel)

Allocate a DigitalIO channel.

Parameters:

channel - the DigitalIO channel to allocate

freeChannel

private final void freeChannel(DigitalIO.DigitalChannel channel)

Free a DigitalIO channel.

Parameters:

channel - the DigitalIO channel to free

getChannel

public final DigitalIO.DigitalChannel getChannel()

The channel this DigitalIO is operating on.

Returns:

DigitalIO.DigitalChannel representation of the DigitalIO channel

getChannelNumber

public int getChannelNumber()

The channel this DigitalIO is operating on, in integer form.

Specified by:

getChannelNumber in class InterruptBase

Returns:

integer representation of the DigitalIO channel

getModuleNumber

public byte getModuleNumber()

Get the module number for this interrupt.

Specified by:

getModuleNumber in class InterruptBase

Returns:

module number

getChannelName

public java.lang.String getChannelName()

The channel this DigitalIO is operating on, in string form.

Returns:

string representation of the DigitalIO channel

isAnalogTrigger

public boolean isAnalogTrigger()

Get whether this interrupt is an analog trigger or not

Specified by:

isAnalogTrigger in class InterruptBase

Returns:

true if this interrupt is an AnalogTrigger

See Also:

AnalogInput.initTrigger(), AnalogInput.createTriggerOutput(AnalogTriggerType), AnalogTriggerOutput, AnalogInput.AnalogTriggerType