Package trclib.sensor

Class TrcTriggerDigitalInput

java.lang.Object
trclib.sensor.TrcTriggerDigitalInput
All Implemented Interfaces:
TrcTrigger
public class TrcTriggerDigitalInput extends Object implements TrcTrigger
This class implements a trigger for a digital input device. A digital input trigger consists of a digital input device. It monitors the device state and notifies the callback handler if the state changes.

  • Constructor Details

    • TrcTriggerDigitalInput

      public TrcTriggerDigitalInput(String instanceName, TrcDigitalInput sensor)
      Constructor: Create an instance of the object.
      Parameters:
      instanceName - specifies the instance name.
      sensor - specifies the digital input device.

  • Method Details

    • toString

      public String toString()
      This method returns the instance name and its state.
      Overrides:
      toString in class Object
      Returns:
      instance name and state.

    • enableTrigger

      public void enableTrigger(TrcTrigger.TriggerMode triggerMode, TrcEvent event)
      This method arms the trigger. It enables the task that monitors the sensor value.
      Specified by:
      enableTrigger in interface TrcTrigger
      Parameters:
      triggerMode - specifies the trigger mode that will signal the event.
      event - specifies the event to signal when the trigger state changed.

    • enableTrigger

      public void enableTrigger(TrcTrigger.TriggerMode triggerMode, TrcEvent.Callback callback)
      This method arms the trigger. It enables the task that monitors the sensor value.
      Specified by:
      enableTrigger in interface TrcTrigger
      Parameters:
      triggerMode - specifies the trigger mode that will trigger a callback.
      callback - specifies the callback handler to notify when the trigger state changed.

    • disableTrigger

      public void disableTrigger()
      This method disarms the trigger. It disables the task that monitors the sensor value.
      Specified by:
      disableTrigger in interface TrcTrigger

    • isEnabled

      public boolean isEnabled()
      This method checks if the trigger task is enabled.
      Specified by:
      isEnabled in interface TrcTrigger
      Returns:
      true if enabled, false otherwise.

    • getSensorValue

      public double getSensorValue()
      This method reads the current analog sensor value (not supported).
      Specified by:
      getSensorValue in interface TrcTrigger
      Returns:
      current sensor value.

    • getSensorState

      public boolean getSensorState()
      This method reads the current digital sensor state.
      Specified by:
      getSensorState in interface TrcTrigger
      Returns:
      current sensor state.