Java BoundaryException.assertWithinBounds方法代码示例

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Set the analog output voltage.
 *
 * AO1 is pin 11 on the top connector (P2).
 * AO2 is pin 12 on the top connector (P2).
 * AO1 is the reference voltage for the 2 analog comparators on DIO15 and DIO16.
 *
 * The output range is 0V to 4V, however due to the supply voltage don't expect more than about 3V.
 * Current supply capability is only 100uA.
 *
 * @param channel The analog output channel on the DS IO. [1,2]
 * @param value The voltage to output on the channel.
 */
public void setAnalogOut(int channel, double value) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 2);
    if (!m_outputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    if (value < 0.0) {
        value = 0.0;
    }
    if (value > kAnalogOutputReference) {
        value = kAnalogOutputReference;
    }
    if (value > kAnalogOutputReference) {
        value = kAnalogOutputReference;
    }

    synchronized (m_outputDataSemaphore) {
        m_outputData.data.dac[channel - 1] = (byte) (value / kAnalogOutputReference * kAnalogOutputResolution);
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Set the state of an LED on the IO board.
 *
 * @param channel The LED channel to set. [1,8]
 * @param value True to turn the LED on.
 */
public void setLED(int channel, boolean value) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 8);
    if (!m_outputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    byte leds;
    synchronized (m_outputDataSemaphore) {
        leds = m_outputData.data.leds;

        leds &= ~(1 << (channel - 1));
        if (value) {
            leds |= 1 << (channel - 1);
        }

        m_outputData.data.leds = leds;
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Set the state of a DIO line that is configured for digital output.
 *
 * @param channel The DIO channel to set. [1,16]
 * @param value The state to set the selected channel to.
 */
public void setDigitalOutput(int channel, boolean value) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 16);
    if (!m_outputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    short digital;
    synchronized (m_outputDataSemaphore) {

        if ((m_outputData.data.digital_oe & (1 << (channel - 1))) != 0) {
            digital = m_outputData.data.digital;

            digital &= ~(1 << (channel - 1));
            if (value) {
                digital |= 1 << (channel - 1);
            }

            m_outputData.data.digital = digital;
        } else {
            System.err.println("Line not configured for output");
        }
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Set the state to output on a Fixed High Current Digital Output line.
 *
 * FixedDO1 is pin 5 on the top connector (P2).
 * FixedDO2 is pin 3 on the top connector (P2).
 *
 * The FixedDO lines always output 0V and 3.3V regardless of J1 and J4.
 * They can source 4mA and can sink 25mA.  Because of this, they are expected to be used
 * in an active low configuration, such as connecting to the cathode of a bright LED.
 * Because they are expected to be active low, they default to true.
 *
 * @param channel The FixedDO channel to set.
 * @param value The state to set the FixedDO.
 */
public void setFixedDigitalOutput(int channel, boolean value) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 2);
    if (!m_outputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    byte digital;
    synchronized (m_outputDataSemaphore) {
        digital = m_outputData.data.fixed_digital_out;

        digital &= ~(1 << (channel - 1));
        if (value) {
            digital |= 1 << (channel - 1);
        }

        m_outputData.data.fixed_digital_out = digital;
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Set which parameter of the encoder you are using as a process control variable. The counter
 * class supports the rate and distance parameters.
 *
 * @param pidSource An enum to select the parameter.
 */
public void setPIDSourceType(PIDSourceType pidSource) {
  if (pidSource == null) {
    throw new NullPointerException("PID Source Parameter given was null");
  }
  BoundaryException.assertWithinBounds(pidSource.value, 0, 1);
  m_pidSource = pidSource;
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Set which parameter of the encoder you are using as a process control
 * variable. The counter class supports the rate and distance parameters.
 *
 * @param pidSource An enum to select the parameter.
 */
public void setPIDSourceType(PIDSourceType pidSource) {
  if (pidSource == null) {
    throw new NullPointerException("PID Source Parameter given was null");
  }
  BoundaryException.assertWithinBounds(pidSource.value, 0, 1);
  m_pidSource = pidSource;
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Execute a read only transaction with the device.
 * <p/>
 * Read 1 to 7 bytes from a device. This method does not write any data to prompt
 * the device.
 *
 * @param buffer A pointer to the array of bytes to store the data read from
 *               the device.
 * @param count  The number of bytes to read in the transaction. [1..7]
 * @return Transfer Aborted... false for success, true for aborted.
 */
public boolean readOnly(byte[] buffer, int count) {
    BoundaryException.assertWithinBounds(count, 1, 7);
    if (buffer == null) {
        throw new NullPointerException("Null return buffer was given");
    }

    ByteBuffer dataReceivedBuffer = ByteBuffer.allocateDirect(count);

    int retVal = 0;
    dataReceivedBuffer.get(buffer);
    return retVal < 0;
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Get the percent duty-cycle that the PWM generator channel is configured to output.
 *
 * @param channel The DIO line's PWM generator to get the duty-cycle from. [1,4]
 * @return The percent duty-cycle being output (if the DIO line is configured for PWM). [0.0,1.0]
 */
public double getPWMOutput(int channel) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 4);
    if (!m_outputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    synchronized (m_outputDataSemaphore) {
        int tempCompare = m_outputData.data.pwm_compare[channel - 1] & 0xFFFF;
        int tempPeriod = m_outputData.data.pwm_period[(channel - 1) >> 1] & 0xFFFF;
        return (double) tempCompare / (double) tempPeriod;
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Query an analog input channel on the DS IO in ratiometric form.
 *
 * @param channel The channel number to read. [1,8]
 * @return The analog input percentage for the channel.
 */
public double getAnalogInRatio(int channel) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 8);
    if (!m_inputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    synchronized (m_inputDataSemaphore) {
        return m_inputData.data.analog[channel - 1] / kAnalogInputResolution;
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Query the voltage currently being output.
 *
 * AO1 is pin 11 on the top connector (P2).
 * AO2 is pin 12 on the top connector (P2).
 *
 * @param channel The analog output channel on the DS IO. [1,2]
 * @return The voltage being output on the channel.
 */
public double getAnalogOut(int channel) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 2);
    if (!m_outputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }

    synchronized (m_outputDataSemaphore) {
        int tempData = m_outputData.data.dac[channel - 1];
        tempData = tempData < 0 ? tempData + 256 : tempData;
        return tempData * kAnalogOutputReference / kAnalogOutputResolution;
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Get the current configuration for a DIO line.
 *
 * This has the side effect of forcing the Driver Station to switch to Enhanced mode if it's not when called.
 * If Enhanced mode is not enabled when this is called, it will return kUnknown.
 *
 * @param channel The DIO channel config to get. [1,16]
 * @return The configured mode for the DIO line.
 */
public tDigitalConfig getDigitalConfig(int channel) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 16);
    if (!m_outputValid) {
        m_requestEnhancedEnable = true;
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    synchronized (m_outputDataSemaphore) {
        if ((channel >= 1) && (channel <= 4)) {
            if ((m_outputData.data.pwm_enable & (1 << (channel - 1))) != 0) {
                return tDigitalConfig.kPWM;
            }
        }
        if ((channel >= 15) && (channel <= 16)) {
            if ((m_outputData.data.comparator_enable & (1 << (channel - 15))) != 0) {
                return tDigitalConfig.kAnalogComparator;
            }
        }
        if ((m_outputData.data.digital_oe & (1 << (channel - 1))) != 0) {
            return tDigitalConfig.kOutput;
        }
        if ((m_outputData.data.digital_pe & (1 << (channel - 1))) == 0) {
            return tDigitalConfig.kInputFloating;
        }
        if ((m_outputData.data.digital & (1 << (channel - 1))) != 0) {
            return tDigitalConfig.kInputPullUp;
        } else {
            return tDigitalConfig.kInputPullDown;
        }
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Set the percent duty-cycle to output on a PWM enabled DIO line.
 *
 * DIO1 through DIO4 have the ability to output a PWM signal.  The period of the
 * signal can be configured in pairs using SetPWMPeriod().
 *
 * @param channel The DIO line's PWM generator to set. [1,4]
 * @param value The percent duty-cycle to output from the PWM generator. [0.0,1.0]
 */
public void setPWMOutput(int channel, double value) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 4);
    if (!m_outputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    if (value > 1.0) {
        value = 1.0;
    } else if (value < 0.0) {
        value = 0.0;
    }
    synchronized (m_outputDataSemaphore) {
        m_outputData.data.pwm_compare[channel - 1] = (short) (value * (double) m_outputData.data.pwm_period[(channel - 1) >> 1]);
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Get the state being output on a fixed digital output.
 *
 * @param channel The FixedDO line to get. [1,2]
 * @return The state of the FixedDO line.
 */
public boolean getFixedDigitalOutput(int channel) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 2);
    if (!m_outputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    synchronized (m_outputDataSemaphore) {
        return ((m_outputData.data.fixed_digital_out >> (channel - 1)) & 1) != 0;
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Reset the position of an encoder to 0.
 *
 * This simply stores an offset locally.  It does not reset the hardware counter on the IO board.
 * If you use this method with Index enabled, you may get unexpected results.
 *
 * @param encoderNumber The quadrature encoder to reset. [1,2]
 */
public void resetEncoder(int encoderNumber) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(encoderNumber, 1, 2);
    if (!m_inputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    synchronized (m_inputDataSemaphore) {
        m_encoderOffsets[encoderNumber - 1] = m_inputData.data.quad[encoderNumber - 1];
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入方法依赖的package包/类
/**
 * Get the current configuration of a quadrature encoder index channel.
 *
 * This has the side effect of forcing the Driver Station to switch to Enhanced mode if it's not when called.
 * If Enhanced mode is not enabled when this is called, it will return false.
 *
 * @param encoderNumber The quadrature encoder. [1,2]
 * @return Is the index channel of the encoder enabled.
 */
public boolean getEncoderIndexEnable(int encoderNumber) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(encoderNumber, 1, 2);
    if (!m_outputValid) {
        m_requestEnhancedEnable = true;
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    synchronized (m_outputDataSemaphore) {
        return ((m_outputData.data.quad_index_enable >> (encoderNumber - 1)) & 1) != 0;
    }
}