Squashed 'third_party/allwpilib_2017/' content from commit 35ac87d
Change-Id: I7bb6f5556c30d3f5a092e68de0be9c710c60c9f4
git-subtree-dir: third_party/allwpilib_2017
git-subtree-split: 35ac87d6ff8b7f061c4f18c9ea316e5dccd4888a
diff --git a/wpilibc/athena/include/DigitalOutput.h b/wpilibc/athena/include/DigitalOutput.h
new file mode 100644
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--- /dev/null
+++ b/wpilibc/athena/include/DigitalOutput.h
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+/*----------------------------------------------------------------------------*/
+/* Copyright (c) FIRST 2008-2017. 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 <memory>
+#include <string>
+
+#include "DigitalSource.h"
+#include "HAL/Types.h"
+#include "LiveWindow/LiveWindowSendable.h"
+#include "tables/ITableListener.h"
+
+namespace frc {
+
+/**
+ * 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(int channel);
+ virtual ~DigitalOutput();
+ void Set(bool value);
+ bool Get() const;
+ int GetChannel() const override;
+ void Pulse(double length);
+ bool IsPulsing() const;
+ void SetPWMRate(double rate);
+ void EnablePWM(double initialDutyCycle);
+ void DisablePWM();
+ void UpdateDutyCycle(double dutyCycle);
+
+ // Digital Source Interface
+ HAL_Handle GetPortHandleForRouting() const override;
+ AnalogTriggerType GetAnalogTriggerTypeForRouting() const override;
+ bool IsAnalogTrigger() const override;
+
+ void ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) override;
+ void UpdateTable();
+ void StartLiveWindowMode();
+ void StopLiveWindowMode();
+ std::string GetSmartDashboardType() const;
+ void InitTable(std::shared_ptr<ITable> subTable);
+ std::shared_ptr<ITable> GetTable() const;
+
+ private:
+ int m_channel;
+ HAL_DigitalHandle m_handle;
+ HAL_DigitalPWMHandle m_pwmGenerator;
+
+ std::shared_ptr<ITable> m_table;
+};
+
+} // namespace frc