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 setRaw(self, value):
"""Set the PWM value directly to the hardware.
Write a raw value to a PWM channel.
:param value: Raw PWM value. Range 0 - 255.
:type value: int
"""
hal.setPWM(self.port, value)
def setRaw(self, value):
"""Set the PWM value directly to the hardware.
Write a raw value to a PWM channel.
:param value: Raw PWM value. Range 0 - 255.
:type value: int
"""
hal.setPWM(self.port, value)
def setRaw(self, value):
"""Set the PWM value directly to the hardware.
Write a raw value to a PWM channel.
:param value: Raw PWM value. Range 0 - 255.
:type value: int
"""
if self.port is None:
raise ValueError("operation on freed port")
hal.setPWM(self.port, value)
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 _freePWM(port):
hal.setPWM(port, 0)
hal.freePWMChannel(port)
hal.freeDIO(port)
