DutyCycle

class wpilib.DutyCycle(source: wpilib._wpilib.DigitalSource)

Bases: Sendable

Class to read a duty cycle PWM input.

PWM input signals are specified with a frequency and a ratio of high to low in that frequency. There are 8 of these in the roboRIO, and they can be attached to any DigitalSource.

These can be combined as the input of an AnalogTrigger to a Counter in order to implement rollover checking.

Constructs a DutyCycle input from a DigitalSource input.

This class does not own the inputted source.

Parameters:

source – The DigitalSource to use.

getFPGAIndex() int

Get the FPGA index for the DutyCycle.

Returns:

the FPGA index

getFrequency() int

Get the frequency of the duty cycle signal.

Returns:

frequency in Hertz

getHighTime() seconds

Get the raw high time of the duty cycle signal.

Returns:

high time of last pulse

getOutput() float

Get the output ratio of the duty cycle signal.

0 means always low, 1 means always high.

Returns:

output ratio between 0 and 1

getSourceChannel() int

Get the channel of the source.

Returns:

the source channel