DigitalOutput¶

class wpilib.DigitalOutput(channel: int)¶

Bases: wpilib._wpilib.DigitalSource, wpiutil._wpiutil.Sendable

Class to write to digital outputs.

Write values to the digital output channels. Other devices implemented elsewhere will allocate channels automatically so for those devices it shouldn’t be done here.

Create an instance of a digital output.

Create a digital output given a channel.

Parameters: channel – The digital channel 0-9 are on-board, 10-25 are on the MXP port

disablePWM() → None¶

Change this line from a PWM output back to a static Digital Output line.

Free up one of the 6 DO PWM generator resources that were in use.

enablePWM(initialDutyCycle: float) → None¶

Enable a PWM Output on this line.

Allocate one of the 6 DO PWM generator resources from this module.

Supply the initial duty-cycle to output so as to avoid a glitch when first starting.

The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) but is reduced the higher the frequency of the PWM signal is.

Parameters: initialDutyCycle – The duty-cycle to start generating. [0..1]

get() → bool¶

Gets the value being output from the Digital Output.

Returns: the state of the digital output.

getAnalogTriggerTypeForRouting() → wpilib._wpilib.AnalogTriggerType¶

Returns: The type of analog trigger output to be used. 0 for Digitals

getChannel() → int¶

Returns: The GPIO channel number that this object represents.

getPortHandleForRouting() → int¶

Returns: The HAL Handle to the specified source.

initSendable(builder: wpiutil._wpiutil.SendableBuilder) → None¶

isAnalogTrigger() → bool¶: Is source an AnalogTrigger

isPulsing() → bool¶

Determine if the pulse is still going.

Determine if a previously started pulse is still going.

pulse(length: float) → None¶

Output a single pulse on the digital output line.

Send a single pulse on the digital output line where the pulse duration is specified in seconds. Maximum pulse length is 0.0016 seconds.

Parameters: length – The pulse length in seconds

set(value: bool) → None¶

Set the value of a digital output.

Set the value of a digital output to either one (true) or zero (false).

Parameters: value – 1 (true) for high, 0 (false) for disabled

setPWMRate(rate: float) → None¶

Change the PWM frequency of the PWM output on a Digital Output line.

The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is logarithmic.

There is only one PWM frequency for all digital channels.

Parameters: rate – The frequency to output all digital output PWM signals.

setSimDevice(device: int) → None¶

Indicates this output is used by a simulated device.

Parameters: device – simulated device handle

updateDutyCycle(dutyCycle: float) → None¶

Change the duty-cycle that is being generated on the line.

The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) but is reduced the higher the frequency of the PWM signal is.

Parameters: dutyCycle – The duty-cycle to change to. [0..1]