Java DigitalOutput类代码示例

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
@Override
public void perform() {
  terminal.writer().println();
  terminal.writer().println(Messages.bold(NAME));
  terminal.writer().println("pulseLength = 0.25, pulse width = 144 µsec");
  terminal.writer().println("pulseLength = 0.50, pulse width =  32 µsec");
  terminal.writer().println("pulseLength = 1.00, pulse width =  64 µsec");
  terminal.writer().println("pulseLength = 2.00, pulse width = 128 µsec");
  terminal.writer().println("pulseLength = 4.00, pulse width = 256 µsec");
  terminal.writer().println("pulseLength = 8.00, pulse width = 256 µsec");
  terminal.writer().println();
  DigitalOutput digitalOutput = dioSet.getDigitalOutput();
  if (digitalOutput == null) {
    terminal.writer().println(Messages.boldRed("no digital output selected selected"));
    return;
  }
  pulse(digitalOutput, 0.25);
  pulse(digitalOutput, 0.5);
  pulse(digitalOutput, 1);
  pulse(digitalOutput, 2);
  pulse(digitalOutput, 4);
  pulse(digitalOutput, 8);
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
void selectDigitalOutput(int channel) {
  clearSelectedOutput();
  removeInput(channel);
  digitalOutput = new DigitalOutput(channel);
  outputs.add(channel); // outputs can't be inputs

  telemetryService.stop();
  for (Item item : telemetryService.getItems()) {
    if (item instanceof DigitalInputItem && item.deviceId() == channel) {
      telemetryService.remove(item);
      break;
    }
  }
  telemetryService.register(new DigitalOutputItem(digitalOutput));
  telemetryService.start();
  logger.info("initialized output {} and restarted TelemetryService", channel);
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
@Override
public void perform() {
  terminal.writer().println();
  terminal.writer().println(Messages.bold(NAME));
  terminal.writer().println();
  DigitalOutput digitalOutput = dioSet.getDigitalOutput();
  if (digitalOutput == null) {
    terminal.writer().println(Messages.boldRed("no digital output selected"));
    return;
  }
  digitalOutput.disablePWM();
  digitalOutput.enablePWM(0.25);
  Timer.delay(SLEEP_SEC);
  digitalOutput.updateDutyCycle(0.5);
  Timer.delay(SLEEP_SEC);
  digitalOutput.updateDutyCycle(0.75);
  Timer.delay(SLEEP_SEC);
  digitalOutput.updateDutyCycle(1.0);
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
public FrcDigitalRGB(
        final String instanceName, int redChannel, int greenChannel, int blueChannel)
{
    super(instanceName);

    if (debugEnabled)
    {
        dbgTrace = new TrcDbgTrace(
                moduleName + "." + instanceName,
                false,
                TrcDbgTrace.TraceLevel.API,
                TrcDbgTrace.MsgLevel.INFO);
    }

    redLight = new DigitalOutput(redChannel);
    greenLight = new DigitalOutput(greenChannel);
    blueLight = new DigitalOutput(blueChannel);
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
public Shooter() {
	arduinoPins = new DigitalOutput[3];
	arduinoPins[0] = new DigitalOutput(RobotMap.SHOOTER_ARDUINO_PIN1);
	arduinoPins[1] = new DigitalOutput(RobotMap.SHOOTER_ARDUINO_PIN2);
	arduinoPins[2] = new DigitalOutput(RobotMap.SHOOTER_ARDUINO_PIN3);
	
	angleEncoder.setReverseDirection(true);
	angleEncoder.setDistancePerPulse(1);
	angleEncoder.setPIDSourceParameter(Encoder.PIDSourceParameter.kDistance);
	angleEncoder.start();
	//SmartDashboard.putBoolean("Shooter Angle PID", true);
	anglePID.setInputRange(0, 1400);
	anglePID.setPercentTolerance(1);
	anglePID.setContinuous(true);
	angleSetToPoint(new ShooterPoint("FULL_DOWN"));
	photocoder.start(); // ADDED 
	photocoderPower.set(true);
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
public USensor() {
    leftPulse = new DigitalOutput(RobotMap.LEFT_PULSE);
    left = new Counter(RobotMap.LEFT_ECHO);
    left.setMaxPeriod(1);
    left.setSemiPeriodMode(true);
    left.reset();

    rightPulse = new DigitalOutput(RobotMap.RIGHT_PULSE);
    right = new Counter(RobotMap.RIGHT_ECHO);
    right.setMaxPeriod(1);
    right.setSemiPeriodMode(true);
    right.reset();

    threadInit(() -> {
        leftPulse.pulse(RobotMap.US_PULSE);
        rightPulse.pulse(RobotMap.US_PULSE);

        do {
            try {
                Thread.sleep(1);
            } catch (InterruptedException e) {
                e.printStackTrace();
            }
        } while (left.get() < 2 || right.get() < 2);

        leftDistant = left.getPeriod() * 0.5 * RobotMap.SPEED_OF_SOUND;
        rightDistant = right.getPeriod() * 0.5 * RobotMap.SPEED_OF_SOUND;

        SmartDashboard.putNumber("left dis", leftDistant);
        SmartDashboard.putNumber("right dis", rightDistant);

        left.reset();
        right.reset();
    });
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
private static void pulse(DigitalOutput digitalOutput, double length) {
  while (digitalOutput.isPulsing()) {
    try {
      Thread.sleep(0, 500_000);
    } catch (InterruptedException e) {
      e.printStackTrace();
    }
  }
  digitalOutput.pulse(length);
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
@Override
public void perform() {
  if (dioSet.getDigitalOutput() == null) {
    terminal.writer().println(Messages.boldRed("no digital output selected selected"));
    return;
  }
  terminal.writer().println(Messages.bold("Enter duty cycle, press <enter> to go back"));
  while (true) {
    String line;
    try {
      line = reader.readLine(Messages.prompt("number or <return> to exit> ")).trim();
    } catch (EndOfFileException | UserInterruptException e) {
      continue;
    }

    if (line.isEmpty()) {
      return;
    }
    double setpoint;
    try {
      setpoint = Double.valueOf(line);
    } catch (NumberFormatException nfe) {
      help();
      continue;
    }
    terminal.writer().print(Messages.bold(String.format("pulsing for %.2f%n", setpoint)));
    DigitalOutput digitalOutput = dioSet.getDigitalOutput();
    digitalOutput.disablePWM();
    digitalOutput.enablePWM(setpoint);
  }
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
/**
 * This function is run when the robot is first started up and should be
 * used for any initialization code.
 */
public void robotInit()
{
    // PWM's
    mTestMotor1 = new Talon(0);
    mTestMotor2 = new Jaguar(1);
    mServo = new Servo(2);

    // Digital IO
    mDigitalOutput = new DigitalOutput(0);
    mRightEncoder = new Encoder(4, 5);
    mLeftEncoder = new Encoder(1, 2);
    mUltrasonic = new Ultrasonic(7, 6);

    // Analog IO
    mAnalogGryo = new AnalogGyro(0);
    mPotentiometer = new AnalogPotentiometer(1);

    // Solenoid
    mSolenoid = new Solenoid(0);

    // Relay
    mRelay = new Relay(0);

    // Joysticks
    mJoystick1 = new Joystick(0);
    mJoystick2 = new XboxController(1);

    // SPI
    mSpiGryo = new ADXRS450_Gyro();

    // Utilities
    mTimer = new Timer();
    mPDP = new PowerDistributionPanel();

    Preferences.getInstance().putDouble("Motor One Speed", .5);
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
public Robot() {
    stick = new Joystick(0);
    try {
        /* Construct Digital I/O Objects */
        pwm_out_9 = new Victor(        getChannelFromPin( PinType.PWM,       9 ));
        pwm_out_8 = new Jaguar(        getChannelFromPin( PinType.PWM,       8 ));
        dig_in_7  = new DigitalInput(  getChannelFromPin( PinType.DigitalIO, 7 ));
        dig_in_6  = new DigitalInput(  getChannelFromPin( PinType.DigitalIO, 6 ));
        dig_out_5 = new DigitalOutput( getChannelFromPin( PinType.DigitalIO, 5 ));
        dig_out_4 = new DigitalOutput( getChannelFromPin( PinType.DigitalIO, 4 ));
        enc_3and2 = new Encoder(       getChannelFromPin( PinType.DigitalIO, 3 ),
                                       getChannelFromPin( PinType.DigitalIO, 2 ));
        enc_1and0 = new Encoder(       getChannelFromPin( PinType.DigitalIO, 1 ),
                                       getChannelFromPin( PinType.DigitalIO, 0 ));
        
        /* Construct Analog I/O Objects */
        /* NOTE:  Due to a board layout issue on the navX MXP board revision */
        /* 3.3, there is noticeable crosstalk between AN IN pins 3, 2 and 1. */
        /* For that reason, use of pin 3 and pin 2 is NOT RECOMMENDED.       */
        an_in_1   = new AnalogInput(   getChannelFromPin( PinType.AnalogIn,  1 ));
        an_trig_0 = new AnalogTrigger( getChannelFromPin( PinType.AnalogIn,  0 ));
        an_trig_0_counter = new Counter( an_trig_0 );
        
        an_out_1  = new AnalogOutput(  getChannelFromPin( PinType.AnalogOut, 1 ));
        an_out_0  = new AnalogOutput(  getChannelFromPin( PinType.AnalogOut, 0 ));
        
        /* Configure I/O Objects */
        pwm_out_9.setSafetyEnabled(false); /* Disable Motor Safety for Demo */
        pwm_out_8.setSafetyEnabled(false); /* Disable Motor Safety for Demo */
        
        /* Configure Analog Trigger */
        an_trig_0.setAveraged(true);
        an_trig_0.setLimitsVoltage(MIN_AN_TRIGGER_VOLTAGE, MAX_AN_TRIGGER_VOLTAGE);
    } catch (RuntimeException ex ) {
        DriverStation.reportError( "Error instantiating MXP pin on navX MXP:  " 
                                    + ex.getMessage(), true);
    }
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
/**
 * Initialize SPI bus<br>
 * Only call this method once in the program
 *
 * @param clk	The digital output for the clock signal.
 * @param mosi	The digital output for the written data to the slave
 * (master-out slave-in).
 * @param miso	The digital input for the input data from the slave
 * (master-in slave-out).
 */
public static void initBus(final DigitalOutput clk, final DigitalOutput mosi, final DigitalInput miso) {
    if (spi == null) {
        spi = new tSPI();
    }
    else {
        throw new BadSPIConfigException("The SPI bus can only be initialized once");
    }
    
    clkChannel = clk;
    mosiChannel = mosi;
    misoChannel = miso;

    tSPI.writeChannels_SCLK_Module(clk.getModuleForRouting());
    tSPI.writeChannels_SCLK_Channel(clk.getChannelForRouting());

    if (mosi != null) {
        tSPI.writeChannels_MOSI_Module(mosi.getModuleForRouting());
        tSPI.writeChannels_MOSI_Channel(mosi.getChannelForRouting());
    } else {
        tSPI.writeChannels_MOSI_Module(0);
        tSPI.writeChannels_MOSI_Channel(0);
    }

    if (miso != null) {
        tSPI.writeChannels_MISO_Module(miso.getModuleForRouting());
        tSPI.writeChannels_MISO_Channel(miso.getChannelForRouting());
        tSPI.writeConfig_WriteOnly(false);//TODO check these are right
    } else {
        tSPI.writeChannels_MISO_Module(0);
        tSPI.writeChannels_MISO_Channel(0);
        tSPI.writeConfig_WriteOnly(true);
    }

    tSPI.writeChannels_SS_Module(0);
    tSPI.writeChannels_SS_Channel(0);

    tSPI.strobeReset();
    tSPI.strobeClearReceivedData();
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
/**
 * Create a new device on the SPI bus
 *
 * @param cs	The digital output for the device's chip select pin
 * @param csActiveHigh	If the chip select line should be high or low when
 * @param createdChannel	If the free method should free the cs DigitalOutput
 * the device is selected is being selected
 */
private SPIDevice(DigitalOutput cs, boolean csActiveHigh, boolean createdChannel) {
    if (spi == null) {
        throw new RuntimeException("must call SPI.init first");
    }
    this.createdChannel = createdChannel;
    this.cs = cs;
    this.csActiveHigh = csActiveHigh;
    cs.set(!csActiveHigh);
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
/**
 * Constructor.
 *
 * @param cs the chip select line for the SPI bus
 * @param range The range (+ or -) that the accelerometer will measure.
 */
public AccelerometerSPIExample(DigitalOutput cs, AccelerometerSPIExample.DataFormat_Range range) {
    spi = new SPIDevice(cs, SPIDevice.CS_ACTIVE_HIGH);
    spi.setBitOrder(SPIDevice.BIT_ORDER_MSB_FIRST);
    spi.setClockPolarity(SPIDevice.CLOCK_POLARITY_ACTIVE_LOW);
    spi.setDataOnTrailing(SPIDevice.DATA_ON_LEADING_EDGE);

    // Turn on the measurements
    spi.transfer((kPowerCtlRegister << 8) | kPowerCtl_Measure, 16);
    // Specify the data format to read
    spi.transfer((kDataFormatRegister << 8) | kDataFormat_FullRes | range.value, 16);
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
public WsDigitalOutput(String name, int channel) {
    this.digitalValue = new BooleanSubject(name + ":DigitalOutput" + channel);
    startState = new BooleanConfigFileParameter(
            this.getClass().getName() + "." + name, "startState", false);

    this.output = new DigitalOutput(channel);

    digitalValue.setValue(startState.getValue());
}
 

import edu.wpi.first.wpilibj.DigitalOutput; //导入依赖的package包/类
public ArduinoLights(Sensors sensors) {
    //initializing everything
    arduinoSignal = new DigitalOutput(5); //data line
    arduinoSignifier = new DigitalOutput(6);//tells arduino when to read data
    driverStation = DriverStation.getInstance();
    this.sensors = sensors;
    Timer.delay(.5);
}