DigitalPWMSim¶
- class wpilib.simulation.DigitalPWMSim(digitalOutput: wpilib._wpilib.DigitalOutput)¶
Bases:
pybind11_object
Class to control a simulated digital PWM output.
This is for duty cycle PWM outputs on a DigitalOutput, not for the servo style PWM outputs on a PWM channel.
Constructs from a DigitalOutput object.
- Parameters:
digitalOutput – DigitalOutput to simulate
- static createForChannel(channel: int) wpilib.simulation._simulation.DigitalPWMSim ¶
Creates an DigitalPWMSim for a digital I/O channel.
- Parameters:
channel – DIO channel
- Returns:
Simulated object @throws std::out_of_range if no Digital PWM is configured for that channel
- static createForIndex(index: int) wpilib.simulation._simulation.DigitalPWMSim ¶
Creates an DigitalPWMSim for a simulated index. The index is incremented for each simulated DigitalPWM.
- Parameters:
index – simulator index
- Returns:
Simulated object
- getDutyCycle() float ¶
Read the duty cycle value.
- Returns:
the duty cycle value of this PWM output
- getInitialized() bool ¶
Check whether this PWM output has been initialized.
- Returns:
true if initialized
- getPin() int ¶
Check the pin number.
- Returns:
the pin number
- registerDutyCycleCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) wpilib.simulation._simulation.CallbackStore ¶
Register a callback to be run whenever the duty cycle value changes.
- Parameters:
callback – the callback
initialNotify – whether to call the callback with the initial state
- Returns:
the CallbackStore object associated with this callback
- registerInitializedCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) wpilib.simulation._simulation.CallbackStore ¶
Register a callback to be run when this PWM output is initialized.
- Parameters:
callback – the callback
initialNotify – whether to run the callback with the initial state
- Returns:
the CallbackStore object associated with this callback
- registerPinCallback(callback: Callable[[str, HAL_Value], None], initialNotify: bool) wpilib.simulation._simulation.CallbackStore ¶
Register a callback to be run whenever the pin changes.
- Parameters:
callback – the callback
initialNotify – whether to call the callback with the initial state
- Returns:
the CallbackStore object associated with this callback
- resetData() None ¶
Reset all simulation data.
- setDutyCycle(dutyCycle: float) None ¶
Set the duty cycle value of this PWM output.
- Parameters:
dutyCycle – the new value
- setInitialized(initialized: bool) None ¶
Define whether this PWM output has been initialized.
- Parameters:
initialized – whether this object is initialized
- setPin(pin: int) None ¶
Change the pin number.
- Parameters:
pin – the new pin number