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 _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 _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, 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
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.__finalizer = weakref.finalize(self, _freeDigitalSource, 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, 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)
