# validated: 2016-12-31 JW 8f67f2c24cb9 athena/java/edu/wpi/first/wpilibj/AnalogOutput.java
#----------------------------------------------------------------------------
# Copyright (c) FIRST 2014. 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
import weakref
from .livewindow import LiveWindow
from .resource import Resource
from .sensorbase import SensorBase
__all__ = ["AnalogOutput"]
def _freeAnalogOutput(port):
hal.freeAnalogOutputPort(port)
[docs]class AnalogOutput(SensorBase):
"""Analog output"""
channels = Resource(SensorBase.kAnalogOutputChannels)
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)
@property
def port(self):
if not self.__finalizer.alive:
return None
return self._port
[docs] def free(self):
"""Channel destructor.
"""
LiveWindow.removeComponent(self)
if self.channel is None:
return
AnalogOutput.channels.free(self.channel)
self.__finalizer()
self.channel = None
[docs] def getChannel(self):
"""Get the channel of this AnalogOutput.
"""
return self.channel
[docs] def setVoltage(self, voltage):
hal.setAnalogOutput(self.port, voltage)
[docs] def getVoltage(self):
return hal.getAnalogOutput(self.port)
# Live Window code, only does anything if live window is activated.
def getSmartDashboardType(self):
return "Analog Output"
def updateTable(self):
table = self.getTable()
if table is not None:
table.putNumber("Value", self.getVoltage())
def startLiveWindowMode(self):
# Analog Channels don't have to do anything special when entering the
# LiveWindow.
pass
def stopLiveWindowMode(self):
# Analog Channels don't have to do anything special when exiting the
# LiveWindow.
pass