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]