DutyCycle¶
- class wpilib.DutyCycle(source: wpilib._wpilib.DigitalSource)¶
Bases:
Sendable
Class to read a duty cycle PWM input.
PWM input signals are specified with a frequency and a ratio of high to low in that frequency. There are 8 of these in the roboRIO, and they can be attached to any DigitalSource.
These can be combined as the input of an AnalogTrigger to a Counter in order to implement rollover checking.
Constructs a DutyCycle input from a DigitalSource input.
This class does not own the inputted source.
- Parameters:
source – The DigitalSource to use.
- getFPGAIndex() int ¶
Get the FPGA index for the DutyCycle.
- Returns:
the FPGA index
- getFrequency() int ¶
Get the frequency of the duty cycle signal.
- Returns:
frequency in Hertz
- getHighTime() seconds ¶
Get the raw high time of the duty cycle signal.
- Returns:
high time of last pulse
- getOutput() float ¶
Get the output ratio of the duty cycle signal.
0 means always low, 1 means always high.
- Returns:
output ratio between 0 and 1
- getSourceChannel() int ¶
Get the channel of the source.
- Returns:
the source channel