io.github.robolib.module.iface

Class DigitalOutput

java.lang.Object

io.github.robolib.module.iface.Interface

io.github.robolib.module.iface.InterruptBase

io.github.robolib.module.iface.DigitalIO

io.github.robolib.module.iface.DigitalOutput

All Implemented Interfaces:

BooleanSink

public class DigitalOutput
extends DigitalIO
implements BooleanSink

Author:

noriah

Nested Class Summary

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

DigitalIO.DigitalChannel, DigitalIO.Direction

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

Interface.InterfaceType

Field Summary

Fields

Modifier and Type	Field and Description
(package private) java.nio.ByteBuffer	m_pwmGenerator

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

m_channel, m_direction, m_port

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

Constructor and Description
DigitalOutput(DigitalIO.DigitalChannel channel)

Method Summary

Modifier and Type	Method and Description
void	disablePWM() Change this line from a PWM output back to a static Digital Output line.
void	enablePWM(double initialDutyCycle) Enable a PWM Output on this line.
boolean	isPulsing() Determine if the pulse is still going.
void	pulse(double pulseLength) Generate a single pulse.
static void	setPWMRate(double rate) Change the PWM frequency of the PWM output on a Digital Output line.
void	setState(boolean value) Set the value of this BooleanSink
void	updateDutyCycle(double dutyCycle) Change the duty-cycle that is being generated on the line.

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

free, getChannel, getChannelName, getChannelNumber, getModuleNumber, isAnalogTrigger

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

Methods inherited from interface io.github.robolib.identifier.BooleanSink

bindBoolean, bindBoolean

Field Detail

m_pwmGenerator

java.nio.ByteBuffer m_pwmGenerator

Constructor Detail

DigitalOutput

public DigitalOutput(DigitalIO.DigitalChannel channel)

Method Detail

setState

public void setState(boolean value)

Set the value of this BooleanSink Set the value of this DigitalOutput

Specified by:

setState in interface BooleanSink

Parameters:

value - the value true = High, false = Low

pulse

public final void pulse(double pulseLength)

Generate a single pulse. Write a pulse to the specified digital output channel. There can only be a single pulse going at any time.

Parameters:

pulseLength - The length of the pulse.

isPulsing

public final boolean isPulsing()

Determine if the pulse is still going. Determine if a previously started pulse is still going.

Returns:

true if pulsing

setPWMRate

public static final 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 channnels.

Parameters:

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

enablePWM

public final 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 so as 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 final 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 final 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]