Source code for wpilib.analogtriggeroutput

# Copyright (c) FIRST 2008-2012. All Rights Reserved.
# Open Source Software - may be modified and shared by FRC teams. The code
# must be accompanied by the FIRST BSD license file in the root directory of
# the project.

import hal

__all__ = ["AnalogTriggerOutput"]

[docs]class AnalogTriggerOutput: """Represents a specific output from an :class:`.AnalogTrigger` This class is used to get the current output value and also as a :class:`.DigitalSource` to provide routing of an output to digital subsystems on the FPGA such as :class:`.Counter`, :class:`.Encoder:, and :class:`.Interrupt`. The TriggerState output indicates the primary output value of the trigger. If the analog signal is less than the lower limit, the output is False. If the analog value is greater than the upper limit, then the output is True. If the analog value is in between, then the trigger output state maintains its most recent value. The InWindow output indicates whether or not the analog signal is inside the range defined by the limits. The RisingPulse and FallingPulse outputs detect an instantaneous transition from above the upper limit to below the lower limit, and vise versa. These pulses represent a rollover condition of a sensor and can be routed to an up / down couter or to interrupts. Because the outputs generate a pulse, they cannot be read directly. To help ensure that a rollover condition is not missed, there is an average rejection filter available that operates on the upper 8 bits of a 12 bit number and selects the nearest outlyer of 3 samples. This will reject a sample that is (due to averaging or sampling) errantly between the two limits. This filter will fail if more than one sample in a row is errantly in between the two limits. You may see this problem if attempting to use this feature with a mechanical rollover sensor, such as a 360 degree no-stop potentiometer without signal conditioning, because the rollover transition is not sharp / clean enough. Using the averaging engine may help with this, but rotational speeds of the sensor will then be limited. """ def __init__(self, trigger, outputType): """Create an object that represents one of the four outputs from an analog trigger. Because this class derives from DigitalSource, it can be passed into routing functions for Counter, Encoder, etc. :param trigger: The trigger for which this is an output. :param outputType: An enum that specifies the output on the trigger to represent. """ self.trigger = trigger self.outputType = outputType hal.HALReport(hal.HALUsageReporting.kResourceType_AnalogTriggerOutput, trigger.index, outputType)
[docs] def free(self): pass
[docs] def get(self): """Get the state of the analog trigger output. :returns: The state of the analog trigger output. :rtype: :class:`.AnalogTriggerType` """ return hal.getAnalogTriggerOutput(self.trigger.port, self.outputType)
[docs] def getChannelForRouting(self): return (self.trigger.index << 2) + self.outputType
[docs] def getModuleForRouting(self): return (self.trigger.index >> 2)
[docs] def getAnalogTriggerForRouting(self): return True
[docs] class AnalogTriggerType: """Defines the state in which the :class:`.AnalogTrigger` triggers""" kInWindow = hal.AnalogTriggerType.kInWindow kState = hal.AnalogTriggerType.kState kRisingPulse = hal.AnalogTriggerType.kRisingPulse kFallingPulse = hal.AnalogTriggerType.kFallingPulse