Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/include/DigitalOutput.h b/wpilibc/Athena/include/DigitalOutput.h
new file mode 100644
index 0000000..367fb80
--- /dev/null
+++ b/wpilibc/Athena/include/DigitalOutput.h
@@ -0,0 +1,55 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
+/*----------------------------------------------------------------------------*/
+#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;
+};