protected void initDigitalPort(int channel,boolean input) {
m_channel = channel;
checkDigitalChannel(m_channel);
try {
channels.allocate(m_channel);
} catch (CheckedAllocationException ex) {
throw new AllocationException("Digital input " + m_channel + " is already allocated");
}
long port_pointer = dioJNI.getPort((byte) channel);
m_port = dioJNI.initializeDigitalPort(port_pointer);
dioJNI.allocatedio(m_port,input);
}
/**
* Construct an analog output on a specified MXP channel.
*
* @param channel The channel number to represent.
*/
public Analogoutput(final int channel) {
m_channel = channel;
if (!AnalogJNI.checkAnalogoutputChannel(channel)) {
throw new AllocationException("Analog output channel " + m_channel
+ " cannot be allocated. Channel is not present.");
}
try {
channels.allocate(channel);
} catch (CheckedAllocationException e) {
throw new AllocationException("Analog output channel " + m_channel + " is already allocated");
}
long port_pointer = AnalogJNI.getPort((byte) channel);
m_port = AnalogJNI.initializeAnalogoutputPort(port_pointer);
LiveWindow.addSensor("Analogoutput",channel,this);
UsageReporting.report(tResourceType.kResourceType_Analogoutput,channel);
}
/**
* Request one of the 8 interrupts asynchronously on this digital input.
*
* @param handler The {@link InterruptHandlerFunction} that contains the
* method {@link InterruptHandlerFunction#interruptFired(int,Object)}
* that will be called whenever there is an interrupt on this device.
* Request interrupts in synchronous mode where the user program
* interrupt handler will be called when an interrupt occurs. The
* default is interrupt on rising edges only.
*/
public void requestInterrupts(InterruptHandlerFunction<?> handler) {
if (m_interrupt != 0) {
throw new AllocationException("The interrupt has already been allocated");
}
allocateInterrupts(false);
assert (m_interrupt != 0);
InterruptJNI.requestInterrupts(m_interrupt,getModuleForRouting(),getChannelForRouting(),getAnalogTriggerForRouting());
setupsourceEdge(true,false);
InterruptJNI.attachInterruptHandler(m_interrupt,handler.function,handler.overridableParameter());
}
/**
* Initialize PWMs given a channel.
*
* This method is private and is the common path for all the constructors for
* creating PWM instances. Checks channel value ranges and allocates the
* appropriate channel. The allocation is only done to help users ensure that
* they don't double assign channels.
*$
* @param channel The PWM channel number. 0-9 are on-board,10-19 are on the
* MXP port
*/
private void initPWM(final int channel) {
checkPWMChannel(channel);
m_channel = channel;
m_port = dioJNI.initializeDigitalPort(dioJNI.getPort((byte) m_channel));
if (!PWMJNI.allocatePWMChannel(m_port)) {
throw new AllocationException("PWM channel " + channel + " is already allocated");
}
PWMJNI.setPWM(m_port,(short) 0);
m_eliminateDeadband = false;
UsageReporting.report(tResourceType.kResourceType_PWM,channel);
}
/**
* Common function to implement constructor behavior.
*/
private synchronized void initSolenoid() {
checkSolenoidModule(m_moduleNumber);
checkSolenoidChannel(m_channel);
try {
m_allocated.allocate(m_moduleNumber * kSolenoidChannels + m_channel);
} catch (CheckedAllocationException e) {
throw new AllocationException("Solenoid channel " + m_channel + " on module "
+ m_moduleNumber + " is already allocated");
}
long port = SolenoidJNI.getPortWithModule((byte) m_moduleNumber,(byte) m_channel);
m_solenoid_port = SolenoidJNI.initializeSolenoidPort(port);
LiveWindow.addActuator("Solenoid",m_moduleNumber,m_channel,this);
UsageReporting.report(tResourceType.kResourceType_Solenoid,m_moduleNumber);
}
/**
* Common relay initialization method. This code is common to all Relay
* constructors and initializes the relay and reserves all resources that need
* to be locked. Initially the relay is set to both lines at 0v.
*/
private void initRelay() {
SensorBase.checkRelayChannel(m_channel);
try {
if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
relayChannels.allocate(m_channel * 2);
UsageReporting.report(tResourceType.kResourceType_Relay,m_channel);
}
if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
relayChannels.allocate(m_channel * 2 + 1);
UsageReporting.report(tResourceType.kResourceType_Relay,m_channel + 128);
}
} catch (CheckedAllocationException e) {
throw new AllocationException("Relay channel " + m_channel + " is already allocated");
}
m_port = dioJNI.initializeDigitalPort(dioJNI.getPort((byte) m_channel));
m_safetyHelper = new MotorSafetyHelper(this);
m_safetyHelper.setSafetyEnabled(false);
LiveWindow.addActuator("Relay",this);
}
/**
* Construct an analog channel.
*
* @param channel The channel number to represent. 0-3 are on-board 4-7 are on
* the MXP port.
*/
public AnalogInput(final int channel) {
m_channel = channel;
if (!AnalogJNI.checkAnalogInputChannel(channel)) {
throw new AllocationException("Analog input channel " + m_channel
+ " cannot be allocated. Channel is not present.");
}
try {
channels.allocate(channel);
} catch (CheckedAllocationException e) {
throw new AllocationException("Analog input channel " + m_channel + " is already allocated");
}
long port_pointer = AnalogJNI.getPort((byte) channel);
m_port = AnalogJNI.initializeAnalogInputPort(port_pointer);
LiveWindow.addSensor("AnalogInput",this);
UsageReporting.report(tResourceType.kResourceType_AnalogChannel,channel);
}
项目:wpilibj
文件:AnalogChannel.java
/**
* Construct an analog channel on a specified module.
*
* @param moduleNumber The digital module to use (1 or 2).
* @param channel The channel number to represent.
*/
public AnalogChannel(final int moduleNumber,final int channel) {
m_shouldUseVoltageForPID = false;
checkAnalogModule(moduleNumber);
checkAnalogChannel(channel);
m_channel = channel;
m_moduleNumber = moduleNumber;
m_module = AnalogModule.getInstance(moduleNumber);
try {
channels.allocate((moduleNumber - 1) * kAnalogChannels + m_channel - 1);
} catch (CheckedAllocationException e) {
throw new AllocationException(
"Analog channel " + m_channel + " on module " + m_moduleNumber + " is already allocated");
}
if (channel == 1 || channel == 2) {
m_accumulator = new tAccumulator((byte) (channel - 1));
m_accumulatorOffset = 0;
} else {
m_accumulator = null;
}
LiveWindow.addSensor("Analog",moduleNumber,this);
UsageReporting.report(UsageReporting.kResourceType_AnalogChannel,m_moduleNumber-1);
}
项目:wpilibj
文件:Counter.java
private void initCounter(final Mode mode) {
m_allocatedupsource = false;
m_allocatedDownSource = false;
try {
m_index = counters.allocate();
} catch (CheckedAllocationException e) {
throw new AllocationException("No counters left to be allocated");
}
m_counter = new tCounter(m_index);
m_counter.writeConfig_Mode(mode.value);
m_upsource = null;
m_downSource = null;
m_counter.writeTimerConfig_AverageSize(1);
UsageReporting.report(UsageReporting.kResourceType_Counter,m_index,mode.value);
}
项目:wpilibj
文件:PWM.java
/**
* Initialize PWMs given an module and channel.
*
* This method is private and is the common path for all the constructors for creating PWM
* instances. Checks module and channel value ranges and allocates the appropriate channel.
* The allocation is only done to help users ensure that they don't double assign channels.
*/
private void initPWM(final int moduleNumber,final int channel) {
checkPWMModule(moduleNumber);
checkPWMChannel(channel);
try {
allocated.allocate((moduleNumber - 1) * kPwmChannels + channel - 1);
} catch (CheckedAllocationException e) {
throw new AllocationException(
"PWM channel " + channel + " on module " + moduleNumber + " is already allocated");
}
m_channel = channel;
m_module = DigitalModule.getInstance(moduleNumber);
m_module.setPWM(m_channel,kPwmdisabled);
m_eliminateDeadband = false;
UsageReporting.report(UsageReporting.kResourceType_PWM,moduleNumber-1);
}
项目:wpilibj
文件:Relay.java
/**
* Common relay initialization method.
* This code is common to all Relay constructors and initializes the relay and reserves
* all resources that need to be locked. Initially the relay is set to both lines at 0v.
* @param moduleNumber The number of the digital module to use.
*/
private void initRelay(final int moduleNumber) {
SensorBase.checkRelayModule(moduleNumber);
SensorBase.checkRelayChannel(m_channel);
try {
if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
relayChannels.allocate(((moduleNumber - 1) * kRelayChannels + m_channel - 1) * 2);
UsageReporting.report(UsageReporting.kResourceType_Relay,moduleNumber-1);
}
if (m_direction == Direction.kBoth || m_direction == Direction.kReverse) {
relayChannels.allocate(((moduleNumber - 1) * kRelayChannels + m_channel - 1) * 2 + 1);
UsageReporting.report(UsageReporting.kResourceType_Relay,m_channel+128,moduleNumber-1);
}
} catch (CheckedAllocationException e) {
throw new AllocationException("Relay channel " + m_channel + " on module " + moduleNumber + " is already allocated");
}
m_module = DigitalModule.getInstance(moduleNumber);
m_module.setRelayForward(m_channel,false);
m_module.setRelayReverse(m_channel,false);
LiveWindow.addActuator("Relay",this);
}
项目:wpilibj
文件:DigitalModule.java
/**
* Allocate Digital I/O channels.
* Allocate channels so that they are not accidently reused. Also the direction is set at the
* time of the allocation.
*
* @param channel The channel to allocate.
* @param input Indicates whether the I/O pin is an input (true) or an output (false).
* @return True if the I/O pin was allocated,false otherwise.
*/
public boolean allocatedio(final int channel,final boolean input) {
try {
dioChannels.allocate((kDigitalChannels * (m_moduleNumber - 1) + channel - 1));
} catch (CheckedAllocationException e) {
throw new AllocationException(
"Digital channel " + channel + " on module " + m_moduleNumber + " is already allocated");
}
final int outputEnable = m_fpgadio.readOutputEnable();
final int bitToSet = 1 << (DigitalModule.remapDigitalChannel((channel - 1)));
short outputEnableValue;
if (input) {
outputEnableValue = (short) (outputEnable & (~bitToSet));
} else {
outputEnableValue = (short) (outputEnable | bitToSet);
}
m_fpgadio.writeOutputEnable(outputEnableValue);
return true;
}
项目:wpilibj
文件:DigitalInput.java
/**
* Request interrupts asynchronously on this digital input.
* @param 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 param argument to pass to the handler
*/
public void requestInterrupts(/*tInterruptHandler*/Object handler,Object param) {
//Todo: add interrupt support
try {
m_interruptIndex = interrupts.allocate();
} catch (CheckedAllocationException e) {
throw new AllocationException("No interrupts are left to be allocated");
}
allocateInterrupts(false);
m_interrupt.writeConfig_WaitForAck(false);
m_interrupt.writeConfig_Source_AnalogTrigger(getAnalogTriggerForRouting());
m_interrupt.writeConfig_Source_Channel((byte) getChannelForRouting());
m_interrupt.writeConfig_Source_Module((byte) getModuleForRouting());
setupsourceEdge(true,false);
//Todo: m_manager.registerHandler(handler,param);
}
项目:2013_drivebase_proto
文件:Counter.java
private void initCounter(final Mode mode)
{
m_allocatedupsource = false;
m_allocatedDownSource = false;
try
{
m_index = counters.allocate();
}
catch (CheckedAllocationException e)
{
throw new AllocationException("No counters left to be allocated");
}
m_upsource = null;
m_downSource = null;
//UsageReporting.report(UsageReporting.kResourceType_Counter,mode.value);
}
项目:2014_software
文件:Counter.java
private void initCounter(final Mode mode)
{
m_allocatedupsource = false;
m_allocatedDownSource = false;
try
{
m_index = counters.allocate();
}
catch (CheckedAllocationException e)
{
throw new AllocationException("No counters left to be allocated");
}
m_upsource = null;
m_downSource = null;
//UsageReporting.report(UsageReporting.kResourceType_Counter,mode.value);
}
项目:wpilib-java
文件:AnalogChannel.java
/**
* Construct an analog channel on a specified module.
*
* @param moduleNumber The digital module to use (1 or 2).
* @param channel The channel number to represent.
*/
public AnalogChannel(final int moduleNumber,final int channel) {
checkAnalogModule(moduleNumber);
checkAnalogChannel(channel);
m_channel = channel;
m_moduleNumber = moduleNumber;
m_module = AnalogModule.getInstance(moduleNumber);
try {
channels.allocate((moduleNumber - 1) * kAnalogChannels + m_channel - 1);
} catch (CheckedAllocationException e) {
throw new AllocationException(
"Analog channel " + m_channel + " on module " + m_moduleNumber + " is already allocated");
}
if (channel == 1 || channel == 2) {
m_accumulator = new tAccumulator((byte) (channel - 1));
m_accumulatorOffset = 0;
} else {
m_accumulator = null;
}
LiveWindow.addSensor("Analog",m_moduleNumber-1);
}
项目:wpilib-java
文件:Counter.java
private void initCounter(final Mode mode) {
m_allocatedupsource = false;
m_allocatedDownSource = false;
try {
m_index = counters.allocate();
} catch (CheckedAllocationException e) {
throw new AllocationException("No counters left to be allocated");
}
m_counter = new tCounter(m_index);
m_counter.writeConfig_Mode(mode.value);
m_upsource = null;
m_downSource = null;
m_counter.writeTimerConfig_AverageSize(1);
UsageReporting.report(UsageReporting.kResourceType_Counter,mode.value);
}
项目:wpilib-java
文件:PWM.java
/**
* Initialize PWMs given an module and channel.
*
* This method is private and is the common path for all the constructors for creating PWM
* instances. Checks module and channel value ranges and allocates the appropriate channel.
* The allocation is only done to help users ensure that they don't double assign channels.
*/
private void initPWM(final int moduleNumber,moduleNumber-1);
}
项目:wpilib-java
文件:Relay.java
/**
* Common relay initialization method.
* This code is common to all Relay constructors and initializes the relay and reserves
* all resources that need to be locked. Initially the relay is set to both lines at 0v.
* @param moduleNumber The number of the digital module to use.
*/
private void initRelay(final int moduleNumber) {
SensorBase.checkRelayModule(moduleNumber);
SensorBase.checkRelayChannel(m_channel);
try {
if (m_direction == Direction.kBoth || m_direction == Direction.kForward) {
relayChannels.allocate(((moduleNumber - 1) * kRelayChannels + m_channel - 1) * 2);
UsageReporting.report(UsageReporting.kResourceType_Relay,this);
}
项目:wpilib-java
文件:DigitalModule.java
/**
* Allocate Digital I/O channels.
* Allocate channels so that they are not accidently reused. Also the direction is set at the
* time of the allocation.
*
* @param channel The channel to allocate.
* @param input Indicates whether the I/O pin is an input (true) or an output (false).
* @return True if the I/O pin was allocated,final boolean input) {
try {
dioChannels.allocate((kDigitalChannels * (m_moduleNumber - 1) + channel - 1));
} catch (CheckedAllocationException e) {
throw new AllocationException(
"Digital channel " + channel + " on module " + m_moduleNumber + " is already allocated");
}
final int outputEnable = m_fpgadio.readOutputEnable();
final int bitToSet = 1 << (DigitalModule.remapDigitalChannel((channel - 1)));
short outputEnableValue;
if (input) {
outputEnableValue = (short) (outputEnable & (~bitToSet));
} else {
outputEnableValue = (short) (outputEnable | bitToSet);
}
m_fpgadio.writeOutputEnable(outputEnableValue);
return true;
}
项目:wpilib-java
文件:DigitalInput.java
/**
* Request interrupts asynchronously on this digital input.
* @param 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 param argument to pass to the handler
*/
public void requestInterrupts(/*tInterruptHandler*/Object handler,param);
}
项目:2013_robot_software
文件:Counter.java
private void initCounter(final Mode mode)
{
m_allocatedupsource = false;
m_allocatedDownSource = false;
try
{
m_index = counters.allocate();
}
catch (CheckedAllocationException e)
{
throw new AllocationException("No counters left to be allocated");
}
m_upsource = null;
m_downSource = null;
//UsageReporting.report(UsageReporting.kResourceType_Counter,mode.value);
}
项目:snobot-2017
文件:Encoder.java
/**
* Set the index source for the encoder. When this source rises,the encoder count automatically
* resets.
*
* @param channel A dio channel to set as the encoder index
* @param type The state that will cause the encoder to reset
*/
public void setIndexSource(int channel,IndexingType type) {
if (m_allocatedI) {
throw new AllocationException("Digital Input for Indexing already allocated");
}
m_indexSource = new DigitalInput(channel);
m_allocatedI = true;
setIndexSource(m_indexSource,type);
}
项目:snobot-2017
文件:AnalogInput.java
/**
* Initialize the accumulator.
*/
public void initaccumulator() {
if (!isAccumulatorChannel()) {
throw new AllocationException("Accumulators are only available on slot " + kAccumulatorSlot
+ " on channels " + kAccumulatorChannels[0] + "," + kAccumulatorChannels[1]);
}
m_accumulatorOffset = 0;
AnalogJNI.initaccumulator(m_port);
}
/**
* Request one of the 8 interrupts synchronously on this digital input.
* Request interrupts in synchronous mode where the user program will have to
* explicitly wait for the interrupt to occur using {@link #waitForInterrupt}.
* The default is interrupt on rising edges only.
*/
public void requestInterrupts() {
if (m_interrupt != 0) {
throw new AllocationException("The interrupt has already been allocated");
}
allocateInterrupts(true);
assert (m_interrupt != 0);
InterruptJNI.requestInterrupts(m_interrupt,false);
}
/**
* Allocate the interrupt
*
* @param watcher true if the interrupt should be in synchronous mode where
* the user program will have to explicitly wait for the interrupt to
* occur.
*/
protected void allocateInterrupts(boolean watcher) {
try {
m_interruptIndex = interrupts.allocate();
} catch (CheckedAllocationException e) {
throw new AllocationException("No interrupts are left to be allocated");
}
m_isSynchronousInterrupt = watcher;
m_interrupt =
InterruptJNI.initializeInterrupts(m_interruptIndex,watcher);
}
/**
* Initialize the accumulator.
*/
public void initaccumulator() {
if (!isAccumulatorChannel()) {
throw new AllocationException("Accumulators are only available on slot " + kAccumulatorSlot
+ " on channels " + kAccumulatorChannels[0] + "," + kAccumulatorChannels[1]);
}
m_accumulatorOffset = 0;
AnalogJNI.initaccumulator(m_port);
}
项目:wpilibj
文件:AnalogChannel.java
/**
* Initialize the accumulator.
*/
public void initaccumulator() {
if (!isAccumulatorChannel()) {
throw new AllocationException(
"Accumulators are only available on slot " +
kAccumulatorSlot + " on channels " + kAccumulatorChannels[0] + "," + kAccumulatorChannels[1]);
}
m_accumulatorOffset = 0;
setAccumulatorCenter(0);
resetAccumulator();
}
项目:wpilibj
文件:AnalogTrigger.java
/**
* Initialize an analog trigger from a module number and channel.
* This is the common code for the two constructors that use a module number and channel.
* @param moduleNumber The number of the analog module to create this trigger on.
* @param channel the port to use for the analog trigger
*/
protected void initTrigger(final int moduleNumber,final int channel) {
m_channel = channel;
m_analogModule = AnalogModule.getInstance(moduleNumber);
try {
m_index = triggers.allocate();
} catch (CheckedAllocationException e) {
throw new AllocationException("No analog triggers are available to allocate");
}
m_trigger = new tAnalogTrigger((byte) m_index);
m_trigger.writeSourceSelect_Channel((byte) (m_channel - 1));
m_trigger.writeSourceSelect_Module((byte) moduleNumber - 1);
UsageReporting.report(UsageReporting.kResourceType_AnalogTrigger,moduleNumber-1);
}
项目:wpilibj
文件:Encoder.java
/**
* Common initialization code for Encoders.
* This code allocates resources for Encoders and is common to all constructors.
* @param reverseDirection If true,counts down instead of up (this is all relative)
* @param encodingType either k1X,k2X,or k4X to indicate 1X,2X or 4X decoding. If 4X is
* selected,then an encoder FPGA object is used and the returned counts will be 4x the encoder
* spec'd value since all rising and falling edges are counted. If 1X or 2X are selected then
* a counter object will be used and the returned value will either exactly match the spec'd count
* or be double (2x) the spec'd count.
*/
private void initEncoder(boolean reverseDirection) {
switch (m_encodingType.value) {
case EncodingType.k4X_val:
try {
m_index = quadEncoders.allocate();
} catch (CheckedAllocationException e) {
throw new AllocationException("There are no encoders left to allocate");
}
m_encoder = new tEncoder(m_index);
m_encoder.writeConfig_ASource_Module(m_aSource.getModuleForRouting());
m_encoder.writeConfig_ASource_Channel(m_aSource.getChannelForRouting());
m_encoder.writeConfig_ASource_AnalogTrigger(m_aSource.getAnalogTriggerForRouting());
m_encoder.writeConfig_BSource_Module(m_bSource.getModuleForRouting());
m_encoder.writeConfig_BSource_Channel(m_bSource.getChannelForRouting());
m_encoder.writeConfig_BSource_AnalogTrigger(m_bSource.getAnalogTriggerForRouting());
m_encoder.strobeReset();
m_encoder.writeConfig_Reverse(reverseDirection);
m_encoder.writeTimerConfig_AverageSize(1);
if (m_indexSource != null) {
m_encoder.writeConfig_IndexSource_Module(m_indexSource.getModuleForRouting());
m_encoder.writeConfig_IndexSource_Channel(m_indexSource.getChannelForRouting());
m_encoder.writeConfig_IndexSource_AnalogTrigger(m_indexSource.getAnalogTriggerForRouting());
m_encoder.writeConfig_IndexActiveHigh(true);
}
m_counter = null;
break;
case EncodingType.k2X_val:
case EncodingType.k1X_val:
m_counter = new Counter(m_encodingType,m_aSource,m_bSource,reverseDirection);
break;
}
m_distancePerpulse = 1.0;
UsageReporting.report(UsageReporting.kResourceType_Encoder,m_encodingType.value);
LiveWindow.addSensor("Encoder",m_aSource.getModuleForRouting(),m_aSource.getChannelForRouting(),this);
}
项目:wpilibj
文件:Solenoid.java
/**
* Common function to implement constructor behavior.
*/
private synchronized void initSolenoid() {
checkSolenoidModule(m_moduleNumber);
checkSolenoidChannel(m_channel);
try {
m_allocated.allocate((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1);
} catch (CheckedAllocationException e) {
throw new AllocationException(
"Solenoid channel " + m_channel + " on module " + m_moduleNumber + " is already allocated");
}
LiveWindow.addActuator("Solenoid",this);
UsageReporting.report(UsageReporting.kResourceType_Solenoid,m_moduleNumber - 1);
}
项目:wpilibj
文件:DigitalModule.java
/**
* Allocate a DO PWM Generator.
* Allocate PWM generators so that they are not accidently reused.
*/
public int allocateDO_PWM() {
try {
return DO_PWMGenerators[m_moduleNumber - 1].allocate();
} catch (CheckedAllocationException e) {
throw new AllocationException(
"No Digital Output PWM Generators on module " + m_moduleNumber + " remaining");
}
}
项目:wpilibj
文件:DigitalInput.java
/**
* 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.
*/
public void requestInterrupts() {
try {
m_interruptIndex = interrupts.allocate();
} catch (CheckedAllocationException e) {
throw new AllocationException("No interrupts are left to be allocated");
}
allocateInterrupts(true);
m_interrupt.writeConfig_Source_AnalogTrigger(getAnalogTriggerForRouting());
m_interrupt.writeConfig_Source_Channel((byte) getChannelForRouting());
m_interrupt.writeConfig_Source_Module((byte) getModuleForRouting());
setupsourceEdge(true,false);
}
项目:wpilib-java
文件:AnalogChannel.java
/**
* Initialize the accumulator.
*/
public void initaccumulator() {
if (!isAccumulatorChannel()) {
throw new AllocationException(
"Accumulators are only available on slot " +
kAccumulatorSlot + " on channels " + kAccumulatorChannels[0] + "," + kAccumulatorChannels[1]);
}
m_accumulatorOffset = 0;
setAccumulatorCenter(0);
resetAccumulator();
}
项目:wpilib-java
文件:AnalogTrigger.java
/**
* Initialize an analog trigger from a module number and channel.
* This is the common code for the two constructors that use a module number and channel.
* @param moduleNumber The number of the analog module to create this trigger on.
* @param channel the port to use for the analog trigger
*/
protected void initTrigger(final int moduleNumber,moduleNumber-1);
}
项目:wpilib-java
文件:Encoder.java
/**
* Common initialization code for Encoders.
* This code allocates resources for Encoders and is common to all constructors.
* @param reverseDirection If true,this);
}
项目:wpilib-java
文件:Solenoid.java
/**
* Common function to implement constructor behavior.
*/
private synchronized void initSolenoid() {
checkSolenoidModule(m_moduleNumber);
checkSolenoidChannel(m_channel);
try {
m_allocated.allocate((m_moduleNumber - 1) * kSolenoidChannels + m_channel - 1);
} catch (CheckedAllocationException e) {
throw new AllocationException(
"Solenoid channel " + m_channel + " on module " + m_moduleNumber + " is already allocated");
}
LiveWindow.addSensor("Solenoid",m_moduleNumber - 1);
}
项目:wpilib-java
文件:DigitalModule.java
/**
* Allocate a DO PWM Generator.
* Allocate PWM generators so that they are not accidently reused.
*/
public int allocateDO_PWM() {
try {
return DO_PWMGenerators[m_moduleNumber - 1].allocate();
} catch (CheckedAllocationException e) {
throw new AllocationException(
"No Digital Output PWM Generators on module " + m_moduleNumber + " remaining");
}
}
项目:wpilib-java
文件:DigitalInput.java
/**
* 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.
*/
public void requestInterrupts() {
try {
m_interruptIndex = interrupts.allocate();
} catch (CheckedAllocationException e) {
throw new AllocationException("No interrupts are left to be allocated");
}
allocateInterrupts(true);
m_interrupt.writeConfig_Source_AnalogTrigger(getAnalogTriggerForRouting());
m_interrupt.writeConfig_Source_Channel((byte) getChannelForRouting());
m_interrupt.writeConfig_Source_Module((byte) getModuleForRouting());
setupsourceEdge(true,false);
}
项目:snobot-2017
文件:Resource.java
/**
* Free an allocated resource. After a resource is no longer needed,for example a destructor is
* called for a channel assignment class,Free will release the resource value so it can be reused
* somewhere else in the program.
*
* @param index The index of the resource to free.
*/
public void free(final int index) {
if (m_numAllocated[index] == false) {
throw new AllocationException("No resource available to be freed");
}
m_numAllocated[index] = false;
}
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