DigitalOutput Class Reference

#include <DigitalOutput.h>

Inheritance 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)
ITable *	GetTable ()
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 Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.
virtual const Error &	GetError () 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 Error &	GetGlobalError ()
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.

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

channel

The digital channel (1..14).

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

moduleNumber	The digital module (1 or 2).
channel	The digital channel (1..14).

DigitalOutput::~DigitalOutput ( )

virtual

Free the resources associated with a digital output.

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.

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

initialDutyCycle

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

bool DigitalOutput::GetAnalogTriggerForRouting ( )

virtual

Returns

The value to be written to the analog trigger field of a routing mux.

Implements DigitalSource.

uint32_t DigitalOutput::GetChannel

(

)

Returns

The GPIO channel number that this object represents.

uint32_t DigitalOutput::GetChannelForRouting ( )

virtual

Returns

The value to be written to the channel field of a routing mux.

Implements DigitalSource.

uint32_t DigitalOutput::GetModuleForRouting ( )

virtual

Returns

The value to be written to the module field of a routing mux.

Implements DigitalSource.

bool DigitalOutput::IsPulsing

(

)

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

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

length

The pulselength in seconds

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

virtual

Request interrupts asynchronously on this digital output.

Parameters

handler

The 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.

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.

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).

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

rate	The frequency to output all digital output PWM signals on this module.

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

dutyCycle

The duty-cycle to change to. [0..1]

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

• DigitalOutput.h
• DigitalOutput.cpp