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DigitalOutput Class Reference

#include <DigitalOutput.h>

Inheritance diagram for DigitalOutput:
Collaboration diagram for DigitalOutput:

Public Member Functions

 DigitalOutput (uint32_t channel)
 
 DigitalOutput (uint8_t moduleNumber, uint32_t channel)
 
virtual ~DigitalOutput ()
 
void Set (uint32_t value)
 
uint32_t GetChannel ()
 
void Pulse (float length)
 
bool IsPulsing ()
 
void SetPWMRate (float rate)
 
void EnablePWM (float initialDutyCycle)
 
void DisablePWM ()
 
void UpdateDutyCycle (float dutyCycle)
 
virtual uint32_t GetChannelForRouting ()
 
virtual uint32_t GetModuleForRouting ()
 
virtual bool GetAnalogTriggerForRouting ()
 
virtual void RequestInterrupts (tInterruptHandler handler, void *param)
 
virtual void RequestInterrupts ()
 
void SetUpSourceEdge (bool risingEdge, bool fallingEdge)
 
virtual void ValueChanged (ITable *source, const std::string &key, EntryValue value, bool isNew)
 
void UpdateTable ()
 
void StartLiveWindowMode ()
 
void StopLiveWindowMode ()
 
std::string GetSmartDashboardType ()
 
void InitTable (ITable *subTable)
 
ITableGetTable ()
 
- Public Member Functions inherited from DigitalSource
virtual ~DigitalSource ()
 
- Public Member Functions inherited from InterruptableSensorBase
virtual void CancelInterrupts ()
 Free up the underlying chipobject functions. More...
 
virtual void WaitForInterrupt (float timeout)
 Synchronus version. More...
 
virtual void EnableInterrupts ()
 Enable interrupts - after finishing setup. More...
 
virtual void DisableInterrupts ()
 Disable, but don't deallocate. More...
 
virtual double ReadInterruptTimestamp ()
 Return the timestamp for the interrupt that occurred. More...
 
- Public Member Functions inherited from SensorBase
 SensorBase ()
 
virtual ~SensorBase ()
 
- Public Member Functions inherited from ErrorBase
virtual ErrorGetError ()
 Retrieve the current error. Get the current error information associated with this sensor.
 
virtual const ErrorGetError () const
 
virtual void SetErrnoError (const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
 Set error information associated with a C library call that set an error to the "errno" global variable. More...
 
virtual void SetImaqError (int success, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
 Set the current error information associated from the nivision Imaq API. More...
 
virtual void SetError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void SetWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
 Set the current error information associated with this sensor. More...
 
virtual void CloneError (ErrorBase *rhs) const
 
virtual void ClearError () const
 Clear the current error information associated with this sensor.
 
virtual bool StatusIsFatal () const
 Check if the current error code represents a fatal error. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from SensorBase
static void DeleteSingletons ()
 
static uint32_t GetDefaultAnalogModule ()
 
static uint32_t GetDefaultDigitalModule ()
 
static uint32_t GetDefaultSolenoidModule ()
 
static bool CheckAnalogModule (uint8_t moduleNumber)
 
static bool CheckDigitalModule (uint8_t moduleNumber)
 
static bool CheckPWMModule (uint8_t moduleNumber)
 
static bool CheckRelayModule (uint8_t moduleNumber)
 
static bool CheckSolenoidModule (uint8_t moduleNumber)
 
static bool CheckDigitalChannel (uint32_t channel)
 
static bool CheckRelayChannel (uint32_t channel)
 
static bool CheckPWMChannel (uint32_t channel)
 
static bool CheckAnalogChannel (uint32_t channel)
 
static bool CheckSolenoidChannel (uint32_t channel)
 
- Static Public Member Functions inherited from ErrorBase
static void SetGlobalError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber)
 
static void SetGlobalWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber)
 
static ErrorGetGlobalError ()
 
- Static Public Attributes inherited from SensorBase
static const uint32_t kSystemClockTicksPerMicrosecond = 40
 
static const uint32_t kDigitalChannels = 14
 
static const uint32_t kAnalogChannels = 8
 
static const uint32_t kAnalogModules = 2
 
static const uint32_t kDigitalModules = 2
 
static const uint32_t kSolenoidChannels = 8
 
static const uint32_t kSolenoidModules = 2
 
static const uint32_t kPwmChannels = 10
 
static const uint32_t kRelayChannels = 8
 
static const uint32_t kChassisSlots = 8
 
- Protected Member Functions inherited from InterruptableSensorBase
void AllocateInterrupts (bool watcher)
 
- Protected Member Functions inherited from SensorBase
void AddToSingletonList ()
 
- Protected Member Functions inherited from ErrorBase
 ErrorBase ()
 Initialize the instance status to 0 for now.
 
- Protected Attributes inherited from InterruptableSensorBase
tInterrupt * m_interrupt
 
tInterruptManager * m_manager
 
uint32_t m_interruptIndex
 
- Protected Attributes inherited from ErrorBase
Error m_error
 
- Static Protected Attributes inherited from ErrorBase
static SEM_ID _globalErrorMutex = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE)
 
static Error _globalError
 

Detailed Description

Class to write to digital outputs. Write values to the digital output channels. Other devices implemented elsewhere will allocate channels automatically so for those devices it shouldn't be done here.

Definition at line 21 of file DigitalOutput.h.

Constructor & Destructor Documentation

DigitalOutput::DigitalOutput ( uint32_t  channel)
explicit

Create an instance of a digital output. Create a digital output given a channel. The default module is used.

Parameters
channelThe digital channel (1..14).

Definition at line 50 of file DigitalOutput.cpp.

DigitalOutput::DigitalOutput ( uint8_t  moduleNumber,
uint32_t  channel 
)

Create an instance of a digital output. Create an instance of a digital output given a module number and channel.

Parameters
moduleNumberThe digital module (1 or 2).
channelThe digital channel (1..14).

Definition at line 62 of file DigitalOutput.cpp.

DigitalOutput::~DigitalOutput ( )
virtual

Free the resources associated with a digital output.

Definition at line 70 of file DigitalOutput.cpp.

Member Function Documentation

void DigitalOutput::DisablePWM ( )

Change this line from a PWM output back to a static Digital Output line.

Free up one of the 4 DO PWM generator resources that were in use.

Definition at line 159 of file DigitalOutput.cpp.

void DigitalOutput::EnablePWM ( float  initialDutyCycle)

Enable a PWM Output on this line.

Allocate one of the 4 DO PWM generator resources from this module.

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
initialDutyCycleThe duty-cycle to start generating. [0..1]

Definition at line 145 of file DigitalOutput.cpp.

bool DigitalOutput::GetAnalogTriggerForRouting ( )
virtual
Returns
The value to be written to the analog trigger field of a routing mux.

Implements DigitalSource.

Definition at line 202 of file DigitalOutput.cpp.

uint32_t DigitalOutput::GetChannel ( )
Returns
The GPIO channel number that this object represents.

Definition at line 91 of file DigitalOutput.cpp.

uint32_t DigitalOutput::GetChannelForRouting ( )
virtual
Returns
The value to be written to the channel field of a routing mux.

Implements DigitalSource.

Definition at line 185 of file DigitalOutput.cpp.

uint32_t DigitalOutput::GetModuleForRouting ( )
virtual
Returns
The value to be written to the module field of a routing mux.

Implements DigitalSource.

Definition at line 193 of file DigitalOutput.cpp.

std::string DigitalOutput::GetSmartDashboardType ( )
virtual
Returns
the string representation of the named data type that will be used by the smart dashboard for this sendable

Implements Sendable.

Definition at line 303 of file DigitalOutput.cpp.

ITable * DigitalOutput::GetTable ( )
virtual
Returns
the table that is currently associated with the sendable

Implements Sendable.

Definition at line 312 of file DigitalOutput.cpp.

void DigitalOutput::InitTable ( ITable subtable)
virtual

Initializes a table for this sendable object.

Parameters
subtableThe table to put the values in.

Implements Sendable.

Definition at line 307 of file DigitalOutput.cpp.

bool DigitalOutput::IsPulsing ( )

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

Definition at line 112 of file DigitalOutput.cpp.

void DigitalOutput::Pulse ( float  length)

Output a single pulse on the digital output line. Send a single pulse on the digital output line where the pulse diration is specified in seconds. Maximum pulse length is 0.0016 seconds.

Parameters
lengthThe pulselength in seconds

Definition at line 102 of file DigitalOutput.cpp.

void DigitalOutput::RequestInterrupts ( tInterruptHandler  handler,
void *  param 
)
virtual

Request interrupts asynchronously on this digital output.

Parameters
handlerThe address of the interrupt handler function of type tInterruptHandler that will be called whenever there is an interrupt on the digitial output port. Request interrupts in synchronus mode where the user program interrupt handler will be called when an interrupt occurs. The default is interrupt on rising edges only.

Implements DigitalSource.

Definition at line 215 of file DigitalOutput.cpp.

void DigitalOutput::RequestInterrupts ( )
virtual

Request interrupts synchronously on this digital output. Request interrupts in synchronus mode where the user program will have to explicitly wait for the interrupt to occur. The default is interrupt on rising edges only.

Implements DigitalSource.

Definition at line 246 of file DigitalOutput.cpp.

void DigitalOutput::Set ( uint32_t  value)

Set the value of a digital output. Set the value of a digital output to either one (true) or zero (false).

Definition at line 82 of file DigitalOutput.cpp.

void DigitalOutput::SetPWMRate ( float  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 per digital module.

Parameters
rateThe frequency to output all digital output PWM signals on this module.

Definition at line 127 of file DigitalOutput.cpp.

void DigitalOutput::StartLiveWindowMode ( )
virtual

Start having this sendable object automatically respond to value changes reflect the value on the table.

Implements LiveWindowSendable.

Definition at line 291 of file DigitalOutput.cpp.

void DigitalOutput::StopLiveWindowMode ( )
virtual

Stop having this sendable object automatically respond to value changes.

Implements LiveWindowSendable.

Definition at line 297 of file DigitalOutput.cpp.

void DigitalOutput::UpdateDutyCycle ( float  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
dutyCycleThe duty-cycle to change to. [0..1]

Definition at line 176 of file DigitalOutput.cpp.

void DigitalOutput::UpdateTable ( )
virtual

Update the table for this sendable object with the latest values.

Implements LiveWindowSendable.

Definition at line 288 of file DigitalOutput.cpp.

void DigitalOutput::ValueChanged ( ITable source,
const std::string &  key,
EntryValue  value,
bool  isNew 
)
virtual

Called when a key-value pair is changed in a ITable WARNING: If a new key-value is put in this method value changed will immediatly be called which could lead to recursive code

Parameters
sourcethe table the key-value pair exists in
keythe key associated with the value that changed
valuethe new value
isNewtrue if the key did not previously exist in the table, otherwise it is false

Implements ITableListener.

Definition at line 284 of file DigitalOutput.cpp.


The documentation for this class was generated from the following files:

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