/**
* Constructor.
*
* @param port The I2C port the device is connected to.
* @param deviceAddress The address of the device on the I2C bus.
*/
public I2C(Port port, int deviceAddress) {
ByteBuffer status = ByteBuffer.allocateDirect(4);
status.order(ByteOrder.LITTLE_ENDIAN);
m_port = port;
m_deviceAddress = deviceAddress;
I2CJNI.i2CInitialize((byte) m_port.getValue(), status.asIntBuffer());
HALUtil.checkStatus(status.asIntBuffer());
UsageReporting.report(tResourceType.kResourceType_I2C, deviceAddress);
}
/**
* Initialize PWMs given a channel.
*
* <p>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);
}
/**
* 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);
}
/**
* Create an instance of a Digital Input class. Creates a digital input given a channel.
*
* @param channel the DIO channel for the digital input 0-9 are on-board, 10-25 are on the MXP
*/
public DigitalInput(int channel) {
initDigitalPort(channel, true);
LiveWindow.addSensor("DigitalInput", channel, this);
UsageReporting.report(tResourceType.kResourceType_DigitalInput, channel);
}