Class DutyCycle

java.lang.Object

org.wpilib.hardware.rotation.DutyCycle

All Implemented Interfaces:

AutoCloseable, TelemetryLoggable

public class DutyCycle
extends Object
implements TelemetryLoggable, AutoCloseable

Class to read a duty cycle PWM input.

PWM input signals are specified with a frequency and a ratio of high to low in that frequency. These can be attached to any SmartIO.

Constructor Summary

Constructors

Constructor	Description
DutyCycle(int channel)	Constructs a DutyCycle input from a smartio channel.

Method Summary

Modifier and Type	Method	Description
void	close()	Close the DutyCycle and free all resources.
double	getFrequency()	Get the frequency of the duty cycle signal.
int	getHighTimeNanoseconds()	Get the raw high time of the duty cycle signal.
double	getOutput()	Get the output ratio of the duty cycle signal.
int	getSourceChannel()	Get the channel of the source.
String	getTelemetryType()	Gets the telemetry table type.
void	logTo(TelemetryTable table)	Logs the object to a TelemetryTable.

Methods inherited from class Object

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

Constructor Details

DutyCycle

public DutyCycle(int channel)

Constructs a DutyCycle input from a smartio channel.

Parameters:

channel - The channel to use.

Method Details

close

public void close()

Close the DutyCycle and free all resources.

Specified by:

close in interface AutoCloseable

getFrequency

public double getFrequency()

Get the frequency of the duty cycle signal.

Returns:

frequency in Hertz

getOutput

public double getOutput()

Get the output ratio of the duty cycle signal.

0 means always low, 1 means always high.

Returns:

output ratio between 0 and 1

getHighTimeNanoseconds

public int getHighTimeNanoseconds()

Get the raw high time of the duty cycle signal.

Returns:

high time of last pulse in nanoseconds

getSourceChannel

public int getSourceChannel()

Get the channel of the source.

Returns:

the source channel

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