#include <DriverStationEnhancedIO.h>

Inheritance diagram for DriverStationEnhancedIO:

Public Types
enum	tDigitalConfig { kUnknown, kInputFloating, kInputPullUp, kInputPullDown, kOutput, kPWM, kAnalogComparator }

enum	tAccelChannel { kAccelX = 0, kAccelY = 1, kAccelZ = 2 }

enum	tPWMPeriodChannels { kPWMChannels1and2, kPWMChannels3and4 }

Public Member Functions
double	GetAcceleration (tAccelChannel channel)

double	GetAnalogIn (uint32_t channel)

double	GetAnalogInRatio (uint32_t channel)

double	GetAnalogOut (uint32_t channel)

void	SetAnalogOut (uint32_t channel, double value)

bool	GetButton (uint32_t channel)

uint8_t	GetButtons ()

void	SetLED (uint32_t channel, bool value)

void	SetLEDs (uint8_t value)

bool	GetDigital (uint32_t channel)

uint16_t	GetDigitals ()

void	SetDigitalOutput (uint32_t channel, bool value)

tDigitalConfig	GetDigitalConfig (uint32_t channel)

void	SetDigitalConfig (uint32_t channel, tDigitalConfig config)

double	GetPWMPeriod (tPWMPeriodChannels channels)

void	SetPWMPeriod (tPWMPeriodChannels channels, double period)

bool	GetFixedDigitalOutput (uint32_t channel)

void	SetFixedDigitalOutput (uint32_t channel, bool value)

int16_t	GetEncoder (uint32_t encoderNumber)

void	ResetEncoder (uint32_t encoderNumber)

bool	GetEncoderIndexEnable (uint32_t encoderNumber)

void	SetEncoderIndexEnable (uint32_t encoderNumber, bool enable)

double	GetTouchSlider ()

double	GetPWMOutput (uint32_t channel)

void	SetPWMOutput (uint32_t channel, double value)

uint8_t	GetFirmwareVersion ()

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...

Friends
class	DriverStation

Additional Inherited Members
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 ()

Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

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

Interact with the more complete I/O available from the newest driver station. Get a reference to an object of this type by calling GetEnhancedIO() on the DriverStation object.

Member Function Documentation

double DriverStationEnhancedIO::GetAcceleration ( tAccelChannel channel )

Query an accelerometer channel on the DS IO.

Parameters

channel The channel number to read.

Returns: The current acceleration on the channel in Gs.

double DriverStationEnhancedIO::GetAnalogIn ( uint32_t channel )

Query an analog input channel on the DS IO.

Parameters

channel The channel number to read. [1,8]

Returns: The analog input voltage for the channel.

double DriverStationEnhancedIO::GetAnalogInRatio ( uint32_t channel )

Query an analog input channel on the DS IO in ratiometric form.

Parameters

channel The channel number to read. [1,8]

Returns: The analog input percentage for the channel.

double DriverStationEnhancedIO::GetAnalogOut ( uint32_t channel )

Query the voltage currently being output.

AO1 is pin 11 on the top connector (P2). AO2 is pin 12 on the top connector (P2).

Parameters

channel The analog output channel on the DS IO. [1,2]

Returns: The voltage being output on the channel.

bool DriverStationEnhancedIO::GetButton ( uint32_t channel )

Get the state of a button on the IO board.

Button1 is the physical button "S1". Button2 is pin 4 on the top connector (P2). Button3 is pin 6 on the top connector (P2). Button4 is pin 8 on the top connector (P2). Button5 is pin 10 on the top connector (P2). Button6 is pin 7 on the top connector (P2).

Button2 through Button6 are Capacitive Sense buttons.

Parameters

channel The button channel to read. [1,6]

Returns: The state of the selected button.

uint8_t DriverStationEnhancedIO::GetButtons ( )

Get the state of all the button channels.

Returns: The state of the 6 button channels in the 6 lsb of the returned byte.

bool DriverStationEnhancedIO::GetDigital ( uint32_t channel )

Get the current state of a DIO channel regardless of mode.

Parameters

channel The DIO channel to read. [1,16]

Returns: The state of the selected digital line.

DriverStationEnhancedIO::tDigitalConfig DriverStationEnhancedIO::GetDigitalConfig ( uint32_t channel )

Get the current configuration for a DIO line.

This has the side effect of forcing the Driver Station to switch to Enhanced mode if it's not when called. If Enhanced mode is not enabled when this is called, it will return kUnknown.

Parameters

channel The DIO channel config to get. [1,16]

Returns: The configured mode for the DIO line.

uint16_t DriverStationEnhancedIO::GetDigitals ( )

Get the state of all 16 DIO lines regardless of mode.

Returns: The state of all DIO lines. DIO1 is lsb and DIO16 is msb.

int16_t DriverStationEnhancedIO::GetEncoder ( uint32_t encoderNumber )

Get the position of a quadrature encoder.

There are two signed 16-bit 4X quadrature decoders on the IO board. These decoders are always monitoring the state of the lines assigned to them, but these lines do not have to be used for encoders.

Encoder1 uses DIO4 for "A", DIO6 for "B", and DIO8 for "Index". Encoder2 uses DIO5 for "A", DIO7 for "B", and DIO9 for "Index".

The index functionality can be enabled or disabled using SetEncoderIndexEnable().

Parameters

encoderNumber The quadrature encoder to access. [1,2]

Returns: The current position of the quadrature encoder.

bool DriverStationEnhancedIO::GetEncoderIndexEnable ( uint32_t encoderNumber )

Get the current configuration of a quadrature encoder index channel.

This has the side effect of forcing the Driver Station to switch to Enhanced mode if it's not when called. If Enhanced mode is not enabled when this is called, it will return false.

Parameters

encoderNumber The quadrature encoder. [1,2]

Returns: Is the index channel of the encoder enabled.

uint8_t DriverStationEnhancedIO::GetFirmwareVersion ( )

Get the firmware version running on the IO board.

This also has the side effect of forcing the driver station to switch to Enhanced mode if it is not. If you plan to switch between Driver Stations with unknown IO configurations, you can call this until it returns a non-0 version to ensure that this API is accessible before proceeding.

Returns: The version of the firmware running on the IO board. 0 if the board is not attached or not in Enhanced mode.

bool DriverStationEnhancedIO::GetFixedDigitalOutput ( uint32_t channel )

Get the state being output on a fixed digital output.

Parameters

channel The FixedDO line to get. [1,2]

Returns: The state of the FixedDO line.

double DriverStationEnhancedIO::GetPWMOutput ( uint32_t channel )

Get the percent duty-cycle that the PWM generator channel is configured to output.

Parameters

channel The DIO line's PWM generator to get the duty-cycle from. [1,4]

Returns: The percent duty-cycle being output (if the DIO line is configured for PWM). [0.0,1.0]

double DriverStationEnhancedIO::GetPWMPeriod ( tPWMPeriodChannels channels )

Get the period of a PWM generator.

This has the side effect of forcing the Driver Station to switch to Enhanced mode if it's not when called. If Enhanced mode is not enabled when this is called, it will return 0.

Parameters

channels Select the generator by specifying the two channels to which it is connected.

Returns: The period of the PWM generator in seconds.

double DriverStationEnhancedIO::GetTouchSlider ( )

Get the value of the Capacitive Sense touch slider.

Returns: Value between 0.0 (toward center of board) and 1.0 (toward edge of board). -1.0 means no touch detected.

void DriverStationEnhancedIO::ResetEncoder ( uint32_t encoderNumber )

Reset the position of an encoder to 0.

This simply stores an offset locally. It does not reset the hardware counter on the IO board. If you use this method with Index enabled, you may get unexpected results.

Parameters

encoderNumber The quadrature encoder to reset. [1,2]

void DriverStationEnhancedIO::SetAnalogOut	(	uint32_t	channel,
		double	value
	)

Set the analog output voltage.

AO1 is pin 11 on the top connector (P2). AO2 is pin 12 on the top connector (P2). AO1 is the reference voltage for the 2 analog comparators on DIO15 and DIO16.

The output range is 0V to 4V, however due to the supply voltage don't expect more than about 3V. Current supply capability is only 100uA.

Parameters

channel	The analog output channel on the DS IO. [1,2]
value	The voltage to output on the channel.

void DriverStationEnhancedIO::SetDigitalConfig	(	uint32_t	channel,
		tDigitalConfig	config
	)

Override the DS's configuration of a DIO line.

If configured to kInputFloating, the selected DIO line will be tri-stated with no internal pull resistor.

If configured to kInputPullUp, the selected DIO line will be tri-stated with a 5k-Ohm internal pull-up resistor enabled.

If configured to kInputPullDown, the selected DIO line will be tri-stated with a 5k-Ohm internal pull-down resistor enabled.

If configured to kOutput, the selected DIO line will actively drive to 0V or Vddio (specified by J1 and J4). DIO1 through DIO12, DIO15, and DIO16 can source 4mA and can sink 8mA. DIO12 and DIO13 can source 4mA and can sink 25mA.

In addition to the common configurations, DIO1 through DIO4 can be configured to kPWM to enable PWM output.

In addition to the common configurations, DIO15 and DIO16 can be configured to kAnalogComparator to enable analog comparators on those 2 DIO lines. When enabled, the lines are tri-stated and will accept analog voltages between 0V and 3.3V. If the input voltage is greater than the voltage output by AO1, the DIO will read as true, if less then false.

Parameters

channel	The DIO line to configure. [1,16]
config	The mode to put the DIO line in.

void DriverStationEnhancedIO::SetDigitalOutput	(	uint32_t	channel,
		bool	value
	)

Set the state of a DIO line that is configured for digital output.

Parameters

channel	The DIO channel to set. [1,16]
value	The state to set the selected channel to.

void DriverStationEnhancedIO::SetEncoderIndexEnable	(	uint32_t	encoderNumber,
		bool	enable
	)

Enable or disable the index channel of a quadrature encoder.

The quadrature decoders on the IO board support an active-low index input.

Encoder1 uses DIO8 for "Index". Encoder2 uses DIO9 for "Index".

When enabled, the decoder's counter will be reset to 0 when A, B, and Index are all low.

Parameters

encoderNumber	The quadrature encoder. [1,2]
enable	If true, reset the encoder in an index condition.

void DriverStationEnhancedIO::SetFixedDigitalOutput	(	uint32_t	channel,
		bool	value
	)

Set the state to output on a Fixed High Current Digital Output line.

FixedDO1 is pin 5 on the top connector (P2). FixedDO2 is pin 3 on the top connector (P2).

The FixedDO lines always output 0V and 3.3V regardless of J1 and J4. They can source 4mA and can sink 25mA. Because of this, they are expected to be used in an active low configuration, such as connecting to the cathode of a bright LED. Because they are expected to be active low, they default to true.

Parameters

channel	The FixedDO channel to set.
value	The state to set the FixedDO.

void DriverStationEnhancedIO::SetLED	(	uint32_t	channel,
		bool	value
	)

Set the state of an LED on the IO board.

Parameters

channel	The LED channel to set. [1,8]
value	True to turn the LED on.

void DriverStationEnhancedIO::SetLEDs ( uint8_t value )

Set the state of all 8 LEDs on the IO board.

Parameters

value The state of each LED. LED1 is lsb and LED8 is msb.

void DriverStationEnhancedIO::SetPWMOutput	(	uint32_t	channel,
		double	value
	)

Set the percent duty-cycle to output on a PWM enabled DIO line.

DIO1 through DIO4 have the ability to output a PWM signal. The period of the signal can be configured in pairs using SetPWMPeriod().

Parameters

channel	The DIO line's PWM generator to set. [1,4]
value	The percent duty-cycle to output from the PWM generator. [0.0,1.0]

void DriverStationEnhancedIO::SetPWMPeriod	(	tPWMPeriodChannels	channels,
		double	period
	)

Set the period of a PWM generator.

There are 2 PWM generators on the IO board. One can generate PWM signals on DIO1 and DIO2, the other on DIO3 and DIO4. Each generator has one counter and two compare registers. As such, each pair of PWM outputs share the output period but have independent duty cycles.

Parameters

channels	Select the generator by specifying the two channels to which it is connected.
period	The period of the PWM generator in seconds. [0.0,0.002731]

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

DriverStationEnhancedIO.h
DriverStationEnhancedIO.cpp

Public Types

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation