| jerrym | f157933 | 2013-02-07 01:56:28 +0000 | [diff] [blame] | 1 | /*----------------------------------------------------------------------------*/
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| 2 | /* Copyright (c) FIRST 2008. All Rights Reserved. */
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| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */
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| 4 | /* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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| 5 | /*----------------------------------------------------------------------------*/
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| 6 |
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| 7 | #ifndef DIGITAL_OUTPUT_H_
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| 8 | #define DIGITAL_OUTPUT_H_
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| 9 |
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| 10 | #include "DigitalSource.h"
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| 11 | #include "LiveWindow/LiveWindowSendable.h"
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| 12 | #include "tables/ITableListener.h"
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| 13 |
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| 14 | class DigitalModule;
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| 15 |
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| 16 | /**
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| 17 | * Class to write to digital outputs.
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| 18 | * Write values to the digital output channels. Other devices implemented elsewhere will allocate
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| 19 | * channels automatically so for those devices it shouldn't be done here.
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| 20 | */
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| 21 | class DigitalOutput : public DigitalSource, public ITableListener, public LiveWindowSendable
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| 22 | {
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| 23 | public:
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| 24 | explicit DigitalOutput(UINT32 channel);
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| 25 | DigitalOutput(UINT8 moduleNumber, UINT32 channel);
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| 26 | virtual ~DigitalOutput();
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| 27 | void Set(UINT32 value);
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| 28 | UINT32 GetChannel();
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| 29 | void Pulse(float length);
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| 30 | bool IsPulsing();
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| 31 | void SetPWMRate(float rate);
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| 32 | void EnablePWM(float initialDutyCycle);
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| 33 | void DisablePWM();
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| 34 | void UpdateDutyCycle(float dutyCycle);
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| 35 |
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| 36 | // Digital Source Interface
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| 37 | virtual UINT32 GetChannelForRouting();
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| 38 | virtual UINT32 GetModuleForRouting();
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| 39 | virtual bool GetAnalogTriggerForRouting();
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| 40 | virtual void RequestInterrupts(tInterruptHandler handler, void *param);
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| 41 | virtual void RequestInterrupts();
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| 42 |
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| 43 | void SetUpSourceEdge(bool risingEdge, bool fallingEdge);
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| 44 |
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| 45 | virtual void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
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| 46 | void UpdateTable();
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| 47 | void StartLiveWindowMode();
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| 48 | void StopLiveWindowMode();
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| 49 | std::string GetSmartDashboardType();
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| 50 | void InitTable(ITable *subTable);
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| 51 | ITable * GetTable();
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| 52 |
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| 53 | private:
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| 54 | void InitDigitalOutput(UINT8 moduleNumber, UINT32 channel);
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| 55 |
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| 56 | UINT32 m_channel;
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| 57 | UINT32 m_pwmGenerator;
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| 58 | DigitalModule *m_module;
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| 59 |
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| 60 | ITable *m_table;
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| 61 | };
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| 62 |
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| 63 | #endif
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