com.ridgesoft.intellibrain
Class IntelliBrainDigitalIO

java.lang.Object
  com.ridgesoft.intellibrain.IntelliBrainPinPort
      com.ridgesoft.intellibrain.IntelliBrainDigitalIO

All Implemented Interfaces:

DigitalInput, DigitalOutput, PulseInput, PulseOutput

Direct Known Subclasses:

IntelliBrainExpDigitalIO

public class IntelliBrainDigitalIO
extends IntelliBrainPinPort
implements PulseInput, PulseOutput

Class representing a single digital input/output port.

The digital ports may be used as digital inputs or digital outputs.

Pulse input measurement is supported on ports 3 through 6.

Pulse output is supported on any digital port, even when configured as an input.

By default the port is configured as a digital input.

Method Summary

void	clear() Clears the digital output (sets it low) if the port is configured as an output.
void	enablePulseMeasurement(boolean enable) Enables pulse measurement.
boolean	isSet() Samples the state of the port's signal pin.
void	pulse(int duration) Outputs a pulse to the digital port signal pin.
void	pulse(int duration, boolean highPulse) Outputs a pulse to the digital port signal pin.
int	readEdgeCount() Gets the count of rising and falling edges detected on this input since pulse measurement was enabled.
int	readPulseDuration() Gets the duration of the last high pulse.
int	readPulseDuration(boolean highPulse) Gets the duration of the last high or low pulse.
void	set() Sets the digital ouput high if the port is configured as an output.
void	setDirection(boolean isOutput) Configures the port as an input or output.
void	toggle() Toggles the digital output.
String	toString() Samples the port and returns the String "true" if the digital is set and "false" if it is clear.

Methods inherited from class com.ridgesoft.intellibrain.IntelliBrainPinPort

setPullUp

Methods inherited from class java.lang.Object

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

Method Detail

clear

public void clear()

Clears the digital output (sets it low) if the port is configured as an output.

Does nothing if the port is configured as an input.

Specified by:

clear in interface DigitalOutput

enablePulseMeasurement

public void enablePulseMeasurement(boolean enable)

Enables pulse measurement.

Digital IO ports 3 through 6 support pulse measurement.

Specified by:

enablePulseMeasurement in interface PulseInput

Parameters:

enable - true enables pulse measurement, false disables pulse measurement

Throws:

UnsupportedOperationException - if the port does not support pulse measurement

isSet

public boolean isSet()

Samples the state of the port's signal pin.

Specified by:

isSet in interface DigitalInput

Specified by:

isSet in interface DigitalOutput

Overrides:

isSet in class IntelliBrainPinPort

Returns:

true if the pin is high, false if the pin is low

pulse

public void pulse(int duration)

Outputs a pulse to the digital port signal pin.

If the port is configured as an input port it will be reconfigured to an output for the duration of the pulse.

The IntelliBrain robotics controller supports durations up to about 140 milliseconds.

Specified by:

pulse in interface PulseOutput

Parameters:

duration - duration of the pulse in microseconds

pulse

public void pulse(int duration,
                  boolean highPulse)

Outputs a pulse to the digital port signal pin.

If the port is configured as an input port it will be reconfigured to an output for the duration of the pulse.

The IntelliBrain robotics controller supports durations up to about 140 milliseconds.

Parameters:

duration - duration of the pulse in microseconds

highPulse - generates a high pulse if true and a low pulse if false

readEdgeCount

public int readEdgeCount()

Gets the count of rising and falling edges detected on this input since pulse measurement was enabled.

Pulse measurement must be enabled using the enablePulseMeasurement method.

Specified by:

readEdgeCount in interface PulseInput

Returns:

count of rising and falling edges detected on this input since pulse measurement was enabled

readPulseDuration

public int readPulseDuration()

Gets the duration of the last high pulse.

The resolution is about 4 microseconds and the maximum pulse duration is about 250 milliseconds.

The method enablePulseMeasurement must be called prior to calling this method.

Specified by:

readPulseDuration in interface PulseInput

Returns:

duration of last pulse in microseconds, or -1 if a full pulse has not occurred since the last read.

readPulseDuration

public int readPulseDuration(boolean highPulse)

Gets the duration of the last high or low pulse.

The resolution is about 4 microseconds and the maximum pulse duration is about 250 milliseconds.

The method enablePulseMeasurement must be called prior to calling this method.

Specified by:

readPulseDuration in interface PulseInput

Parameters:

highPulse - true to read the duration of the last high pulse, false to read the duration of the last low pulse

Returns:

duration of last pulse in microseconds, or -1 if a full pulse has not occurred since the last read

set

public void set()

Sets the digital ouput high if the port is configured as an output.

Does nothing if the port is configured as an input.

Specified by:

set in interface DigitalOutput

setDirection

public void setDirection(boolean isOutput)

Configures the port as an input or output.

When configuring a port to be an input, its value is cleared.

When configuring a port to be an output, the pull-up resistor is disabled.

By default digital ports are configured as inputs.

Parameters:

isOutput - true if the port is to be configured as an output, false if it is to be configured as an input

toggle

public void toggle()

Toggles the digital output.

Specified by:

toggle in interface DigitalOutput

toString

public String toString()

Samples the port and returns the String "true" if the digital is set and "false" if it is clear.

Overrides:

toString in class Object

Returns:

String object indicating the state of the port