Class DutyCycle

  • 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.

    • Constructor Detail

      • 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.
    • Method Detail

      • close

        public void close()
        Close the DutyCycle and free all resources.
        Specified by:
        close in interface AutoCloseable
      • getFrequency

        public int getFrequency()
        Get the frequency of the duty cycle signal.
        Returns:
        frequency in Hertz
      • 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
      • 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
      • 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
      • getFPGAIndex

        public final int getFPGAIndex()
        Get the FPGA index for the DutyCycle.
        Returns:
        the FPGA index