Package edu.wpi.first.wpilibj
Class DutyCycle
- java.lang.Object
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- edu.wpi.first.wpilibj.DutyCycle
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- All Implemented Interfaces:
Sendable
,AutoCloseable
public class DutyCycle extends Object implements Sendable, 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. There are 8 of these in the roboRIO, and they can be attached to any
DigitalSource
.These can be combined as the input of an AnalogTrigger to a Counter in order to implement rollover checking.
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Constructor Summary
Constructors Constructor Description DutyCycle(DigitalSource digitalSource)
Constructs a DutyCycle input from a DigitalSource input.
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Method Summary
All Methods Instance Methods Concrete Methods Modifier and Type Method Description void
close()
Close the DutyCycle and free all resources.int
getFPGAIndex()
Get the FPGA index for the DutyCycle.int
getFrequency()
Get the frequency of the duty cycle signal.double
getOutput()
Get the output ratio of the duty cycle signal.int
getOutputRaw()
Get the raw output ratio of the duty cycle signal.int
getOutputScaleFactor()
Get the scale factor of the output.int
getSourceChannel()
void
initSendable(SendableBuilder builder)
Initializes thisSendable
object.
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Constructor Detail
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DutyCycle
public DutyCycle(DigitalSource digitalSource)
Constructs a DutyCycle input from a DigitalSource input.This class does not own the inputted source.
- Parameters:
digitalSource
- The DigitalSource to use.
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Method Detail
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close
public void close()
Close the DutyCycle and free all resources.- Specified by:
close
in interfaceAutoCloseable
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getFrequency
public int getFrequency()
Get the frequency of the duty cycle signal.- Returns:
- frequency in Hertz
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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
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getOutputRaw
public int getOutputRaw()
Get the raw output ratio of the duty cycle signal.0 means always low, an output equal to getOutputScaleFactor() means always high.
- Returns:
- output ratio in raw units
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getOutputScaleFactor
public int getOutputScaleFactor()
Get the scale factor of the output.An output equal to this value is always high, and then linearly scales down to 0. Divide the result of getOutputRaw by this in order to get the percentage between 0 and 1.
- Returns:
- the output scale factor
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getFPGAIndex
public final int getFPGAIndex()
Get the FPGA index for the DutyCycle.- Returns:
- the FPGA index
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getSourceChannel
public int getSourceChannel()
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initSendable
public void initSendable(SendableBuilder builder)
Description copied from interface:Sendable
Initializes thisSendable
object.- Specified by:
initSendable
in interfaceSendable
- Parameters:
builder
- sendable builder
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