edu.wpi.first.wpilibj
Class DigitalInput

java.lang.Object
  edu.wpi.first.wpilibj.SensorBase
      edu.wpi.first.wpilibj.InterruptableSensorBase
          edu.wpi.first.wpilibj.DigitalSource
              edu.wpi.first.wpilibj.DigitalInput

All Implemented Interfaces:

IDevice, IInputOutput, FrcBotSimComponent

public class DigitalInput
extends DigitalSource
implements IInputOutput

Class to read a digital input. This class will read digital inputs and return the current value on the channel. Other devices such as encoders, gear tooth sensors, etc. that are implemented elsewhere will automatically allocate digital inputs and outputs as required. This class is only for devices like switches etc. that aren't implemented anywhere else.

Field Summary

Fields inherited from class edu.wpi.first.wpilibj.InterruptableSensorBase

interrupts, m_interrupt, m_interruptIndex, m_manager

Fields inherited from class edu.wpi.first.wpilibj.SensorBase

kAnalogChannels, kAnalogModules, kDigitalChannels, kPwmChannels, kRelayChannels, kSolenoidChannels, kSolenoidModules, kSystemClockTicksPerMicrosecond, n_simProperties

Constructor Summary

DigitalInput(int channel)
Create an instance of a Digital Input class.

DigitalInput(int moduleNumber, int channel)
Create an instance of a Digital Input class.

Method Summary

void	free() Free the resources used by this object
boolean	get() Get the value from a digital input channel.
boolean	getAnalogTriggerForRouting() Is this an analog trigger
int	getChannel() Get the channel of the digital input
int	getChannelForRouting() Get the channel routing number
int	getModuleForRouting() Get the module routing number
void	requestInterrupts() Request interrupts synchronously on this digital input.
void	requestInterrupts(java.lang.Object handler, java.lang.Object param) Request interrupts asynchronously on this digital input.
void	setUpSourceEdge(boolean risingEdge, boolean fallingEdge) Set which edge to trigger interrupts on

Methods inherited from class edu.wpi.first.wpilibj.InterruptableSensorBase

allocateInterrupts, cancelInterrupts, disableInterrupts, enableInterrupts, readInterruptTimestamp, waitForInterrupt

Methods inherited from class edu.wpi.first.wpilibj.SensorBase

checkAnalogChannel, checkAnalogModule, checkDigitalChannel, checkDigitalModule, checkPWMChannel, checkPWMModule, checkRelayChannel, checkRelayModule, checkSolenoidChannel, checkSolenoidModule, getDefaultAnalogModule, getDefaultDigitalModule, getDefaultSolenoidModule, getSimProperties, setDefaultAnalogModule, setDefaultDigitalModule, setDefaultSolenoidModule

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

DigitalInput

public DigitalInput(int channel)

Create an instance of a Digital Input class. Creates a digital input given a channel and uses the default module.

Parameters:

channel - the port for the digital input

DigitalInput

public DigitalInput(int moduleNumber,
                    int channel)

Create an instance of a Digital Input class. Creates a digital input given an channel and module.

Parameters:

moduleNumber - The number of the digital module to use for this input

channel - the port for the digital input

Method Detail

free

public void free()

Description copied from class: SensorBase

Free the resources used by this object

Overrides:

free in class SensorBase

get

public boolean get()

Get the value from a digital input channel. Retrieve the value of a single digital input channel from the FPGA.

Returns:

the stats of the digital input

getChannel

public int getChannel()

Get the channel of the digital input

Returns:

The GPIO channel number that this object represents.

getChannelForRouting

public int getChannelForRouting()

Description copied from class: DigitalSource

Get the channel routing number

Specified by:

getChannelForRouting in class DigitalSource

Returns:

channel routing number

getModuleForRouting

public int getModuleForRouting()

Description copied from class: DigitalSource

Get the module routing number

Specified by:

getModuleForRouting in class DigitalSource

Returns:

module routing number

getAnalogTriggerForRouting

public boolean getAnalogTriggerForRouting()

Description copied from class: DigitalSource

Is this an analog trigger

Specified by:

getAnalogTriggerForRouting in class DigitalSource

Returns:

true if this is an analog trigger

requestInterrupts

public void requestInterrupts(java.lang.Object handler,
                              java.lang.Object param)

Request interrupts asynchronously on this digital input.

Parameters:

handler - The address of the interrupt handler function of type tInterruptHandler that will be called whenever there is an interrupt on the digitial input port. Request interrupts in synchronus mode where the user program interrupt handler will be called when an interrupt occurs. The default is interrupt on rising edges only.

param - argument to pass to the handler

requestInterrupts

public void requestInterrupts()

Request interrupts synchronously on this digital input. Request interrupts in synchronus mode where the user program will have to explicitly wait for the interrupt to occur. The default is interrupt on rising edges only.

setUpSourceEdge

public void setUpSourceEdge(boolean risingEdge,
                            boolean fallingEdge)

Set which edge to trigger interrupts on

Parameters:

risingEdge - true to interrupt on rising edge

fallingEdge - true to interrupt on falling edge