SynchronousInterrupt

class wpilib.SynchronousInterrupt(*args, **kwargs)

Bases: pybind11_object

Class for handling synchronous (blocking) interrupts.

By default, interrupts will occur on rising edge.

Asynchronous interrupts are handled by the AsynchronousInterrupt class.

Overloaded function.

  1. __init__(self: wpilib._wpilib.SynchronousInterrupt, source: wpilib._wpilib.DigitalSource) -> None

Construct a Synchronous Interrupt from a Digital Source.

Parameters:

source – the DigitalSource the interrupts are triggered from

  1. __init__(self: wpilib._wpilib.SynchronousInterrupt, source: wpilib._wpilib.DigitalSource) -> None

Construct a Synchronous Interrupt from a Digital Source.

Parameters:

source – the DigitalSource the interrupts are triggered from

  1. __init__(self: wpilib._wpilib.SynchronousInterrupt, source: wpilib._wpilib.DigitalSource) -> None

Construct a Synchronous Interrupt from a Digital Source.

Parameters:

source – the DigitalSource the interrupts are triggered from

class WaitResult(value: int)

Bases: pybind11_object

Event trigger combinations for a synchronous interrupt.

Members:

kTimeout

kRisingEdge

kFallingEdge

kBoth

kBoth = <WaitResult.kBoth: 257>
kFallingEdge = <WaitResult.kFallingEdge: 256>
kRisingEdge = <WaitResult.kRisingEdge: 1>
kTimeout = <WaitResult.kTimeout: 0>
property name
property value
getFallingTimestamp() → seconds

Get the timestamp of the last falling edge.

This function does not require the interrupt to be enabled to work.

This only works if falling edge was configured using setInterruptEdges.

Returns:

the timestamp in seconds relative to getFPGATime

getRisingTimestamp() → seconds

Get the timestamp (relative to FPGA Time) of the last rising edge.

Returns:

the timestamp in seconds relative to getFPGATime

setInterruptEdges(risingEdge: bool, fallingEdge: bool) → None

Set which edges cause an interrupt to occur.

Parameters:

  • risingEdge – true to trigger on rising edge, false otherwise.

  • fallingEdge – true to trigger on falling edge, false otherwise

waitForInterrupt(timeout: seconds, ignorePrevious: bool = True) → wpilib._wpilib.SynchronousInterrupt.WaitResult

Wait for an interrupt to occur.

Both rising and falling edge can be returned if both a rising and falling happened between calls, and ignorePrevious is false.

Parameters:

  • timeout – The timeout to wait for. 0s or less will return immediately.

  • ignorePrevious – True to ignore any previous interrupts, false to return interrupt value if an interrupt has occurred since last call.

Returns:

The edge(s) that were triggered, or timeout.

wakeupWaitingInterrupt() → None

Wake up an existing wait call. Can be called from any thread.