Class DigitalOutput

java.lang.Object
org.wpilib.hardware.discrete.DigitalOutput
All Implemented Interfaces:
AutoCloseable, TelemetryLoggable
public class DigitalOutput extends Object implements AutoCloseable, TelemetryLoggable
Class to write digital outputs. This class will write digital outputs. Other devices that are implemented elsewhere will automatically allocate digital inputs and outputs as required.

  • Constructor Summary

    Constructors
    Constructor
    Description
    DigitalOutput(int channel)
    Create an instance of a digital output.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    close()
     
    void
    disablePWM()
    Change this line from a PWM output back to a static Digital Output line.
    void
    enablePPS(double dutyCycle)
    Enable a PWM PPS (Pulse Per Second) Output on this line.
    void
    enablePWM(double initialDutyCycle)
    Enable a PWM Output on this line.
    boolean
    get()
    Gets the value being output from the Digital Output.
    int
    getChannel()
    Get the GPIO channel number that this object represents.
    String
    getTelemetryType()
    Gets the telemetry table type.
    boolean
    isPulsing()
    Determine if the pulse is still going.
    void
    logTo(TelemetryTable table)
    Logs the object to a TelemetryTable.
    void
    pulse(double pulseLength)
    Output a single pulse on the digital output line.
    void
    set(boolean value)
    Set the value of a digital output.
    void
    setPWMRate(double rate)
    Change the PWM frequency of the PWM output on a Digital Output line.
    void
    setSimDevice(SimDevice device)
    Indicates this input is used by a simulated device.
    void
    updateDutyCycle(double dutyCycle)
    Change the duty-cycle that is being generated on the line.

    Methods inherited from class Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Constructor Details

    • DigitalOutput

      public DigitalOutput(int channel)
      Create an instance of a digital output. Create an instance of a digital output given a channel.
      Parameters:
      channel - the SmartIO channel to use for the digital output.

  • Method Details

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable

    • set

      public void set(boolean value)
      Set the value of a digital output.
      Parameters:
      value - true is on, off is false

    • get

      public boolean get()
      Gets the value being output from the Digital Output.
      Returns:
      the state of the digital output.

    • getChannel

      public int getChannel()
      Get the GPIO channel number that this object represents.
      Returns:
      The GPIO channel number.

    • pulse

      public void pulse(double pulseLength)
      Output a single pulse on the digital output line.

      Send a single pulse on the digital output line where the pulse duration is specified in seconds. Maximum of 65535 microseconds.

      Parameters:
      pulseLength - The pulse length in seconds

    • isPulsing

      public boolean isPulsing()
      Determine if the pulse is still going. Determine if a previously started pulse is still going.
      Returns:
      true if pulsing

    • setPWMRate

      public 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 channels.

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

    • enablePPS

      public void enablePPS(double dutyCycle)
      Enable a PWM PPS (Pulse Per Second) Output on this line.

      Allocate one of the 6 DO PWM generator resources.

      Supply the duty-cycle to output.

      The resolution of the duty cycle is 8-bit.

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

    • enablePWM

      public 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 in order 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 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 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]

    • setSimDevice

      public void setSimDevice(SimDevice device)
      Indicates this input is used by a simulated device.
      Parameters:
      device - simulated device handle

    • logTo

      public void logTo(TelemetryTable table)
      Description copied from interface: TelemetryLoggable
      Logs the object to a TelemetryTable.
      Specified by:
      logTo in interface TelemetryLoggable
      Parameters:
      table - telemetry table

    • getTelemetryType

      public String getTelemetryType()
      Description copied from interface: TelemetryLoggable
      Gets the telemetry table type. Default is no specified table type (null). A mismatch in type during logging results in a reported warning, so this should always return the same value.
      Specified by:
      getTelemetryType in interface TelemetryLoggable
      Returns:
      Table type