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FRC2016-old/wpilib/cpp/current/include/DigitalOutput.h

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2016-01-28 11:33:19 -05:00
/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008-2016. 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 the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
#pragma once
#include "DigitalSource.h"
#include "LiveWindow/LiveWindowSendable.h"
#include "tables/ITableListener.h"
#include <memory>
/**
* 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.
*/
class DigitalOutput : public DigitalSource,
public ITableListener,
public LiveWindowSendable {
public:
explicit DigitalOutput(uint32_t channel);
virtual ~DigitalOutput();
void Set(uint32_t value);
uint32_t GetChannel() const;
void Pulse(float length);
bool IsPulsing() const;
void SetPWMRate(float rate);
void EnablePWM(float initialDutyCycle);
void DisablePWM();
void UpdateDutyCycle(float dutyCycle);
// Digital Source Interface
virtual uint32_t GetChannelForRouting() const;
virtual uint32_t GetModuleForRouting() const;
virtual bool GetAnalogTriggerForRouting() const;
virtual void ValueChanged(ITable* source, llvm::StringRef key,
std::shared_ptr<nt::Value> value, bool isNew);
void UpdateTable();
void StartLiveWindowMode();
void StopLiveWindowMode();
std::string GetSmartDashboardType() const;
void InitTable(std::shared_ptr<ITable> subTable);
std::shared_ptr<ITable> GetTable() const;
private:
uint32_t m_channel;
void *m_pwmGenerator;
std::shared_ptr<ITable> m_table;
};