def __init__(self, channel):
"""Allocate a PWM given a channel.
:param channel: The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
:type channel: int
"""
SensorBase.checkPWMChannel(channel)
self.channel = channel
self._port = hal.initializeDigitalPort(hal.getPort(channel))
self.freq = 1/self.kDefaultPwmPeriod * 1000
print('PWM::__init__ channel: {0}, freq: {1}'.format( channel, self.freq))
if not hal.allocatePWMChannel(self._port):
raise IndexError("PWM channel %d is already allocated" % channel)
#self.pwmObj = hal_data['pwm'][digital_port.pin]['pwmObj']
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
hal.setPWM(self._port, 0)
self.__finalizer = weakref.finalize(self, _freePWM, self._port)
self.eliminateDeadband = True
hal.HALReport(hal.HALUsageReporting.kResourceType_PWM, channel)
def __init__(self, channel):
"""Constructor for an analog trigger given a channel number or analog
input.
:param channel: the port index or :class:`.AnalogInput` to use for the analog
trigger. Treated as an AnalogInput if the provided object has a
getChannel function.
"""
super().__init__()
if not hasattr(channel, "getChannel"):
self.analogInput = AnalogInput(channel)
self.ownsAnalog = True
self.addChild(self.analogInput)
else:
self.analogInput = channel
port = hal.getPort(channel)
self._port, self.index = hal.initializeAnalogTrigger(port)
self.__finalizer = \
weakref.finalize(self, _freeAnalogTrigger, self._port)
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
hal.report(hal.UsageReporting.kResourceType_AnalogTrigger, channel)
self.setName("AnalogTrigger", self.analogInput.getChannel())
def __init__(self, channel: int) -> None:
"""Allocate a PWM given a channel.
:param channel: The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
"""
super().__init__()
SendableBase.__init__(self)
SensorUtil.checkPWMChannel(channel)
self.channel = channel
self._handle = hal.initializePWMPort(hal.getPort(channel))
self.__finalizer = weakref.finalize(self, _freePWM, self._handle)
self.setDisabled()
hal.setPWMEliminateDeadband(self.handle, False)
hal.report(hal.UsageReporting.kResourceType_PWM, channel)
self.setName("PWM", channel)
self.setSafetyEnabled(False)
# Python-specific: Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
def __init__(self, channel: int) -> None:
"""Allocate a PWM given a channel.
:param channel: The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
"""
super().__init__()
SendableBase.__init__(self)
SensorUtil.checkPWMChannel(channel)
self.channel = channel
self.handle = hal.initializePWMPort(hal.getPort(channel))
self.__finalizer = weakref.finalize(self, _freePWM, self.handle)
self.setDisabled()
hal.setPWMEliminateDeadband(self.handle, False)
hal.report(hal.UsageReporting.kResourceType_PWM, channel)
self.setName("PWM", channel)
self.setSafetyEnabled(False)
# Python-specific: Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
def __init__(self, channel):
"""Construct an analog output on a specified MXP channel.
:param channel: The channel number to represent.
"""
if not hal.checkAnalogOutputChannel(channel):
raise IndexError(
"Analog output channel %d cannot be allocated. Channel is not present."
% channel)
try:
AnalogOutput.channels.allocate(self, channel)
except IndexError as e:
raise IndexError("Analog output channel %d is already allocated" %
channel) from e
self.channel = channel
port = hal.getPort(channel)
self._port = hal.initializeAnalogOutputPort(port)
LiveWindow.addSensorChannel("AnalogOutput", channel, self)
hal.HALReport(hal.HALUsageReporting.kResourceType_AnalogChannel,
channel, 1)
self.__finalizer = weakref.finalize(self, _freeAnalogOutput,
self._port)
def _initRelay(self) -> None:
SensorUtil.checkRelayChannel(self.channel)
portHandle = hal.getPort(self.channel)
try:
if (
self.direction == self.Direction.kBoth
or self.direction == self.Direction.kForward
):
Relay.relayChannels.allocate(self, self.channel * 2)
self._forwardHandle = hal.initializeRelayPort(portHandle, True)
hal.report(hal.UsageReporting.kResourceType_Relay, self.channel)
if (
self.direction == self.Direction.kBoth
or self.direction == self.Direction.kReverse
):
Relay.relayChannels.allocate(self, self.channel * 2 + 1)
self._reverseHandle = hal.initializeRelayPort(portHandle, False)
hal.report(hal.UsageReporting.kResourceType_Relay, self.channel + 128)
except IndexError as e:
raise IndexError(
"Relay channel %d is already allocated" % self.channel
) from e
self.__finalizer = weakref.finalize(
self, _freeRelay, self._forwardHandle, self._reverseHandle
)
self.setSafetyEnabled(False)
self.setName("Relay", self.channel)
def _initRelay(self) -> None:
SensorUtil.checkRelayChannel(self.channel)
portHandle = hal.getPort(self.channel)
try:
if (
self.direction == self.Direction.kBoth
or self.direction == self.Direction.kForward
):
Relay.relayChannels.allocate(self, self.channel * 2)
self.forwardHandle = hal.initializeRelayPort(portHandle, True)
hal.report(hal.UsageReporting.kResourceType_Relay, self.channel)
if (
self.direction == self.Direction.kBoth
or self.direction == self.Direction.kReverse
):
Relay.relayChannels.allocate(self, self.channel * 2 + 1)
self.reverseHandle = hal.initializeRelayPort(portHandle, False)
hal.report(hal.UsageReporting.kResourceType_Relay, self.channel + 128)
except IndexError as e:
raise IndexError(
"Relay channel %d is already allocated" % self.channel
) from e
self.__finalizer = weakref.finalize(
self, _freeRelay, self.forwardHandle, self.reverseHandle
)
self.setSafetyEnabled(False)
self.setName("Relay", self.channel)
def __init__(self, channel: int) -> None:
"""Create an instance of a Digital Input class. Creates a digital
input given a channel.
:param channel: the DIO channel for the digital input. 0-9 are on-board, 10-25 are on the MXP
"""
super().__init__()
SensorUtil.checkDigitalChannel(channel)
self.channel = channel
self.handle = hal.initializeDIOPort(hal.getPort(channel), True)
hal.report(hal.UsageReporting.kResourceType_DigitalInput, channel)
self.setName("DigitalInput", channel)
def __init__(self, channel: int) -> None:
"""Create an instance of a digital output.
:param channel: the DIO channel for the digital output. 0-9 are on-board, 10-25 are on the MXP
"""
super().__init__()
self.pwmGenerator = None
self._pwmGenerator_finalizer = None
SensorUtil.checkDigitalChannel(channel)
self.channel = channel
self.handle = hal.initializeDIOPort(hal.getPort(channel), False)
hal.report(hal.UsageReporting.kResourceType_DigitalOutput, channel)
self.setName("DigitalOutput", channel)
def __init__(self, channel):
"""Create an instance of a digital output.
:param channel: the DIO channel for the digital output. 0-9 are on-board, 10-25 are on the MXP
"""
super().__init__()
self._pwmGenerator = None
self._pwmGenerator_finalizer = None
SensorUtil.checkDigitalChannel(channel)
self.channel = channel
self.handle = hal.initializeDIOPort(hal.getPort(channel), False)
hal.report(hal.UsageReporting.kResourceType_DigitalOutput, channel)
self.setName("DigitalOutput", channel)
def __init__(self, channel):
"""Construct an analog output on a specified MXP channel.
:param channel: The channel number to represent.
"""
SensorBase.checkAnalogOutputChannel(channel)
self.channel = channel
port = hal.getPort(channel)
self._port = hal.initializeAnalogOutputPort(port)
LiveWindow.addSensorChannel("AnalogOutput", channel, self)
hal.report(hal.UsageReporting.kResourceType_AnalogChannel,
channel, 1)
self.__finalizer = weakref.finalize(self, _freeAnalogOutput, self._port)
def __init__(self, channel: int) -> None:
"""Construct an analog output on a specified MXP channel.
:param channel: The channel number to represent.
"""
super().__init__()
SensorUtil.checkAnalogOutputChannel(channel)
self.channel = channel
port = hal.getPort(channel)
self.port = hal.initializeAnalogOutputPort(port)
self.setName("AnalogOutput", channel)
hal.report(hal.UsageReporting.kResourceType_AnalogChannel, channel, 1)
self.__finalizer = weakref.finalize(self, _freeAnalogOutput, self.port)
def __init__(self, channel):
"""Construct an analog channel.
:param channel: The channel number to represent. 0-3 are on-board 4-7 are on the MXP port.
"""
SensorBase.checkAnalogInputChannel(channel)
self.channel = channel
self.accumulatorOffset = 0
self.pidSource = self.PIDSourceType.kDisplacement
port = hal.getPort(channel)
self._port = hal.initializeAnalogInputPort(port)
LiveWindow.addSensorChannel("AnalogInput", channel, self)
hal.report(hal.UsageReporting.kResourceType_AnalogChannel, channel)
self.__finalizer = weakref.finalize(self, _freeAnalogInput, self._port)
def _initRelay(self):
SensorBase.checkRelayChannel(self.channel)
try:
if (self.direction == self.Direction.kBoth or
self.direction == self.Direction.kForward):
Relay.relayChannels.allocate(self, self.channel * 2)
hal.HALReport(hal.HALUsageReporting.kResourceType_Relay,
self.channel)
if (self.direction == self.Direction.kBoth or
self.direction == self.Direction.kReverse):
Relay.relayChannels.allocate(self, self.channel * 2 + 1)
hal.HALReport(hal.HALUsageReporting.kResourceType_Relay,
self.channel + 128)
except IndexError as e:
raise IndexError("Relay channel %d is already allocated" % self.channel) from e
self._port = hal.initializeDigitalPort(hal.getPort(self.channel))
self._port_finalizer = weakref.finalize(self, _freeRelay, self._port)
def __init__(self, channel, input):
"""
:param channel: Port for the digital input
:type channel: int
:param input: True if input, False otherwise
:type input: int
"""
super().__init__()
SensorBase.checkDigitalChannel(channel)
self.channel = channel
self._handle = hal.initializeDIOPort(hal.getPort(channel), input)
try:
DigitalSource.channels.allocate(self, channel)
except IndexError as e:
raise IndexError("Digital input %d is already allocated" % self.channel) from e
self.__finalizer = weakref.finalize(self, _freeDigitalSource, self._handle)
def __init__(self, channel, input):
"""
:param channel: Port for the digital input
:type channel: int
:param input: True if input, False otherwise
:type input: int
"""
super().__init__()
SensorBase.checkDigitalChannel(channel)
self.channel = channel
self._handle = hal.initializeDIOPort(hal.getPort(channel), input)
try:
DigitalSource.channels.allocate(self, channel)
except IndexError as e:
raise IndexError("Digital input %d is already allocated" % self.channel) from e
self.__finalizer = weakref.finalize(self, _freeDigitalSource, self._handle)
def __init__(self, channel):
"""Construct an analog output on a specified MXP channel.
:param channel: The channel number to represent.
"""
if not hal.checkAnalogOutputChannel(channel):
raise IndexError("Analog output channel %d cannot be allocated. Channel is not present." % channel)
try:
AnalogOutput.channels.allocate(self, channel)
except IndexError as e:
raise IndexError("Analog output channel %d is already allocated" % channel) from e
self.channel = channel
port = hal.getPort(channel)
self.port = hal.initializeAnalogOutputPort(port)
LiveWindow.addSensorChannel("AnalogOutput", channel, self)
hal.HALReport(hal.HALUsageReporting.kResourceType_AnalogChannel,
channel, 1)
def __init__(self, channel):
"""Construct an analog channel.
:param channel: The channel number to represent. 0-3 are on-board 4-7 are on the MXP port.
"""
if not hal.checkAnalogInputChannel(channel):
raise IndexError("Analog input channel %d cannot be allocated. Channel is not present." % channel)
try:
AnalogInput.channels.allocate(self, channel)
except IndexError as e:
raise IndexError("Analog input channel %d is already allocated" % channel) from e
self.channel = channel
self.accumulatorOffset = 0
port = hal.getPort(channel)
self.port = hal.initializeAnalogInputPort(port)
LiveWindow.addSensorChannel("AnalogInput", channel, self)
hal.HALReport(hal.HALUsageReporting.kResourceType_AnalogChannel,
channel)
def _initRelay(self):
SensorBase.checkRelayChannel(self.channel)
try:
if (self.direction == self.Direction.kBoth or
self.direction == self.Direction.kForward):
Relay.relayChannels.allocate(self, self.channel * 2)
hal.HALReport(hal.HALUsageReporting.kResourceType_Relay,
self.channel)
if (self.direction == self.Direction.kBoth or
self.direction == self.Direction.kReverse):
Relay.relayChannels.allocate(self, self.channel * 2 + 1)
hal.HALReport(hal.HALUsageReporting.kResourceType_Relay,
self.channel + 128)
except IndexError as e:
raise IndexError("Relay channel %d is already allocated" % self.channel) from e
self._port = hal.initializeDigitalPort(hal.getPort(self.channel))
self._port_finalizer = weakref.finalize(self, _freeRelay, self._port)
self.setSafetyEnabled(False)
def __init__(self, channel: int) -> None:
"""Construct an analog channel.
:param channel: The channel number to represent. 0-3 are on-board 4-7 are on the MXP port.
"""
super().__init__()
hal.checkAnalogInputChannel(channel)
self.channel = channel
self.accumulatorOffset = 0
self.pidSource = self.PIDSourceType.kDisplacement
port = hal.getPort(channel)
self.port = hal.initializeAnalogInputPort(port)
hal.report(hal.UsageReporting.kResourceType_AnalogChannel, channel)
self.setName("AnalogInput", self.channel)
self.__finalizer = weakref.finalize(self, _freeAnalogInput, self.port)
def __init__(self, channel: int) -> None:
"""Construct an analog channel.
:param channel: The channel number to represent. 0-3 are on-board 4-7 are on the MXP port.
"""
super().__init__()
hal.checkAnalogInputChannel(channel)
self.channel = channel
self.accumulatorOffset = 0
self.pidSource = self.PIDSourceType.kDisplacement
port = hal.getPort(channel)
self._port = hal.initializeAnalogInputPort(port)
hal.report(hal.UsageReporting.kResourceType_AnalogChannel, channel)
self.setName("AnalogInput", self.channel)
self.__finalizer = weakref.finalize(self, _freeAnalogInput, self._port)
def __init__(self, channel):
"""Constructor for an analog trigger given a channel number or analog
input.
:param channel: the port index or :class:`.AnalogInput` to use for the analog
trigger. Treated as an AnalogInput if the provided object has a
getChannel function.
"""
if hasattr(channel, "getChannel"):
channel = channel.getChannel()
port = hal.getPort(channel)
self._port, self.index = hal.initializeAnalogTrigger(port)
self.__finalizer = \
weakref.finalize(self, _freeAnalogTrigger, self._port)
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
hal.HALReport(hal.HALUsageReporting.kResourceType_AnalogTrigger,
channel)
def __init__(self, channel):
"""Constructor for an analog trigger given a channel number or analog
input.
:param channel: the port index or :class:`.AnalogInput` to use for the analog
trigger. Treated as an AnalogInput if the provided object has a
getChannel function.
"""
if hasattr(channel, "getChannel"):
channel = channel.getChannel()
port = hal.getPort(channel)
self._port, self.index = hal.initializeAnalogTrigger(port)
self.__finalizer = \
weakref.finalize(self, _freeAnalogTrigger, self._port)
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
hal.HALReport(hal.HALUsageReporting.kResourceType_AnalogTrigger,
channel)
def __init__(self, channel, input):
"""
:param channel: Port for the digital input
:type channel: int
:param input: True if input, False otherwise
:type input: int
"""
super().__init__()
self.channel = channel
# XXX: Replace with hal.checkDigitalChannel when implemented
SensorBase.checkDigitalChannel(channel)
try:
DigitalSource.channels.allocate(self, channel)
except IndexError as e:
raise IndexError("Digital input %d is already allocated" % self.channel) from e
self._port = hal.initializeDigitalPort(hal.getPort(channel))
hal.allocateDIO(self._port, True if input else False)
self._port_finalizer = weakref.finalize(self, hal.freeDIO, self._port)
def __init__(self, channel):
"""Allocate a PWM given a channel.
:param channel: The PWM channel number. 0-9 are on-board, 10-19 are on the MXP port
:type channel: int
"""
SensorBase.checkPWMChannel(channel)
self.channel = channel
self._port = hal.initializeDigitalPort(hal.getPort(channel))
if not hal.allocatePWMChannel(self._port):
raise IndexError("PWM channel %d is already allocated" % channel)
# Need this to free on unit test wpilib reset
Resource._add_global_resource(self)
hal.setPWM(self._port, 0)
self._pwm_finalizer = weakref.finalize(self, _freePWM, self._port)
self.eliminateDeadband = False
hal.HALReport(hal.HALUsageReporting.kResourceType_PWM, channel)
def __init__(self, channel):
"""Construct an analog channel.
:param channel: The channel number to represent. 0-3 are on-board 4-7 are on the MXP port.
"""
if not hal.checkAnalogInputChannel(channel):
raise IndexError(
"Analog input channel %d cannot be allocated. Channel is not present."
% channel)
try:
AnalogInput.channels.allocate(self, channel)
except IndexError as e:
raise IndexError("Analog input channel %d is already allocated" %
channel) from e
self.channel = channel
self.accumulatorOffset = 0
port = hal.getPort(channel)
self.port = hal.initializeAnalogInputPort(port)
LiveWindow.addSensorChannel("AnalogInput", channel, self)
hal.HALReport(hal.HALUsageReporting.kResourceType_AnalogChannel,
channel)
def __init__(self, channel, input):
"""
:param channel: Port for the digital input
:type channel: int
:param input: True if input, False otherwise
:type input: int
"""
super().__init__()
self.channel = channel
# XXX: Replace with hal.checkDigitalChannel when implemented
SensorBase.checkDigitalChannel(channel)
try:
DigitalSource.channels.allocate(self, channel)
except IndexError as e:
raise IndexError("Digital input %d is already allocated" %
self.channel) from e
self._port = hal.initializeDigitalPort(hal.getPort(channel))
hal.allocateDIO(self._port, True if input else False)
self._port_finalizer = weakref.finalize(self, hal.freeDIO, self._port)