DigitalOutput.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.                                                         */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef DIGITAL_OUTPUT_H_
#define DIGITAL_OUTPUT_H_

#include "DigitalSource.h"

class DigitalModule;

class DigitalOutput : public DigitalSource
{
public:
        explicit DigitalOutput(UINT32 channel);
        DigitalOutput(UINT8 moduleNumber, UINT32 channel);
        virtual ~DigitalOutput();
        void Set(UINT32 value);
        UINT32 GetChannel();
        void Pulse(float length);
        bool IsPulsing();
        void SetPWMRate(float rate);
        void EnablePWM(float initialDutyCycle);
        void DisablePWM();
        void UpdateDutyCycle(float dutyCycle);

        // Digital Source Interface
        virtual UINT32 GetChannelForRouting();
        virtual UINT32 GetModuleForRouting();
        virtual bool GetAnalogTriggerForRouting();
        virtual void RequestInterrupts(tInterruptHandler handler, void *param);
        virtual void RequestInterrupts();

        void SetUpSourceEdge(bool risingEdge, bool fallingEdge);

private:
        void InitDigitalOutput(UINT8 moduleNumber, UINT32 channel);

        UINT32 m_channel;
        UINT32 m_pwmGenerator;
        DigitalModule *m_module;
};

#endif