DigitalOutput¶
- class wpilib.DigitalOutput(channel)[source]¶
Bases: wpilib.DigitalSource
Writes to a digital output
Other devices that are implemented elsewhere will automatically allocate digital inputs and outputs as required.
Create an instance of a digital output.
Parameters: channel – the DIO channel for the digital output. 0-9 are on-board, 10-25 are on the MXP - disablePWM()[source]¶
Change this line from a PWM output back to a static Digital Output line.
Free up one of the 6 DO PWM generator resources that were in use.
- enablePWM(initialDutyCycle)[source]¶
Enable a PWM Output on this line.
Allocate one of the 6 DO PWM generator resources.
Supply the initial duty-cycle to output so as to avoid a glitch when first starting.
The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) but is reduced the higher the frequency of the PWM signal is.
Parameters: initialDutyCycle (float) – The duty-cycle to start generating. [0..1]
- isPulsing()[source]¶
Determine if the pulse is still going. Determine if a previously started pulse is still going.
Returns: True if pulsing Return type: bool
- pulse(channel, pulseLength)[source]¶
Generate a single pulse. Write a pulse to the specified digital output channel. There can only be a single pulse going at any time.
Parameters: - channel – The channel to pulse.
- pulseLength (float) – The length of the pulse.
- set(value)[source]¶
Set the value of a digital output.
Parameters: value (bool) – True is on, off is False
- setPWMRate(rate)[source]¶
Change the PWM frequency of the PWM output on a Digital Output line.
The valid range is from 0.6 Hz to 19 kHz. The frequency resolution is logarithmic.
There is only one PWM frequency for all channnels.
Parameters: rate (float) – The frequency to output all digital output PWM signals.
- updateDutyCycle(dutyCycle)[source]¶
Change the duty-cycle that is being generated on the line.
The resolution of the duty cycle is 8-bit for low frequencies (1kHz or less) but is reduced the higher the frequency of the PWM signal is.
Parameters: dutyCycle (float) – The duty-cycle to change to. [0..1]