/**
* Free the PWM channel.
*
* <p>Free the resource associated with the PWM channel and set the value to 0.
*/
public void free() {
if (m_port == 0) return;
PWMJNI.setPWM(m_port, (short) 0);
PWMJNI.freePWMChannel(m_port);
PWMJNI.freeDIO(m_port);
DIOJNI.freeDigitalPort(m_port);
m_port = 0;
}
/**
* 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);
}
/**
* Set the PWM value directly to the hardware.
*
* <p>Write a raw value to a PWM channel.
*
* @param value Raw PWM value. Range 0 - 255.
*/
public void setRaw(int value) {
PWMJNI.setPWM(m_port, (short) value);
}
