def disablePWM(self):
"""Change this line from a PWM output back to a static Digital Output
line.
Free up one of the 6 DO PWM generator resources that were in use.
"""
if self.pwmGenerator is not self.invalidPwmGenerator:
return
hal.setDigitalPWMOutputChannel(self._pwmGenerator, SensorUtil.kDigitalChannels)
hal.freeDigitalPWM(self._pwmGenerator)
self._pwmGenerator_finalizer()
def disablePWM(self) -> None:
"""Change this line from a PWM output back to a static Digital Output
line.
Free up one of the 6 DO PWM generator resources that were in use.
"""
if self.pwmGenerator is not self.invalidPwmGenerator:
return
hal.setDigitalPWMOutputChannel(self.pwmGenerator, SensorUtil.kDigitalChannels)
hal.freeDigitalPWM(self.pwmGenerator)
self._pwmGenerator_finalizer()
def enablePWM(self, initialDutyCycle: float) -> None:
"""Enable a PWM Output on this line.
Allocate one of the 6 DO PWM generator resources.
Supply the initial duty-cycle to output so as to avoid a glitch when
first starting.
The resolution of the duty cycle is 8-bit for low frequencies (1kHz or
less) but is reduced the higher the frequency of the PWM signal is.
:param initialDutyCycle: The duty-cycle to start generating. [0..1]
"""
if self.pwmGenerator is not self.invalidPwmGenerator:
return
self._pwmGenerator = hal.allocateDigitalPWM()
hal.setDigitalPWMDutyCycle(self._pwmGenerator, initialDutyCycle)
hal.setDigitalPWMOutputChannel(self._pwmGenerator, self.channel)
self._pwmGenerator_finalizer = weakref.finalize(
self, _freePWMGenerator, self._pwmGenerator)
def enablePWM(self, initialDutyCycle):
"""Enable a PWM Output on this line.
Allocate one of the 6 DO PWM generator resources.
Supply the initial duty-cycle to output so as to avoid a glitch when
first starting.
The resolution of the duty cycle is 8-bit for low frequencies (1kHz or
less) but is reduced the higher the frequency of the PWM signal is.
:param initialDutyCycle: The duty-cycle to start generating. [0..1]
:type initialDutyCycle: float
"""
if self.pwmGenerator is not None:
return
self._pwmGenerator = hal.allocateDigitalPWM()
hal.setDigitalPWMDutyCycle(self._pwmGenerator, initialDutyCycle)
hal.setDigitalPWMOutputChannel(self._pwmGenerator, self.channel)
self._pwmGenerator_finalizer = \
weakref.finalize(self, _freePWMGenerator, self._pwmGenerator)
def _freePWMGenerator(pwmGenerator):
# Disable the output by routing to a dead bit.
hal.setDigitalPWMOutputChannel(pwmGenerator, SensorUtil.kDigitalChannels)
hal.freeDigitalPWM(pwmGenerator)
def _freePWMGenerator(pwmGenerator):
# Disable the output by routing to a dead bit.
hal.setDigitalPWMOutputChannel(pwmGenerator, SensorBase.kDigitalChannels)
hal.freeDigitalPWM(pwmGenerator)