import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Execute a read transaction with the device.
 *
 * <p>Read bytes from a device. Most I2C devices will auto-increment the register pointer
 * internally allowing you to read consecutive registers on a device in a single transaction.
 *
 * @param registerAddress The register to read first in the transaction.
 * @param count           The number of bytes to read in the transaction.
 * @param buffer          A buffer to store the data read from the device. Must be created using
 *                        ByteBuffer.allocateDirect().
 * @return Transfer Aborted... false for success, true for aborted.
 */
public boolean read(int registerAddress, int count, ByteBuffer buffer) {
  if (count < 1) {
    throw new BoundaryException("Value must be at least 1, " + count + " given");
  }

  if (!buffer.isDirect()) {
    throw new IllegalArgumentException("must be a direct buffer");
  }
  if (buffer.capacity() < count) {
    throw new IllegalArgumentException("buffer is too small, must be at least " + count);
  }

  ByteBuffer dataToSendBuffer = ByteBuffer.allocateDirect(1);
  dataToSendBuffer.put(0, (byte) registerAddress);

  return transaction(dataToSendBuffer, 1, buffer, count);
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Execute a read only transaction with the device.
 *
 * <p>Read bytes from a device. This method does not write any data to prompt the device.
 *
 * @param buffer A pointer to the array of bytes to store the data read from the device.
 * @param count  The number of bytes to read in the transaction.
 * @return Transfer Aborted... false for success, true for aborted.
 */
public boolean readOnly(byte[] buffer, int count) {
  if (count < 1) {
    throw new BoundaryException("Value must be at least 1, " + count + " given");
  }

  if (buffer == null) {
    throw new NullPointerException("Null return buffer was given");
  }

  ByteBuffer dataReceivedBuffer = ByteBuffer.allocateDirect(count);

  int retVal = I2CJNI.i2CRead((byte) m_port.value, (byte) m_deviceAddress, dataReceivedBuffer,
                              (byte) count);
  dataReceivedBuffer.get(buffer);
  return retVal < count;
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Execute a read transaction with the device.
 *
 * Read bytes from a device. Most I2C devices will auto-increment the
 * register pointer internally allowing you to read consecutive
 * registers on a device in a single transaction.
 *
 * @param registerAddress The register to read first in the transaction.
 * @param count The number of bytes to read in the transaction.
 * @param buffer A buffer to store the data read from the device. Must be
 *        created using ByteBuffer.allocateDirect().
 * @return Transfer Aborted... false for success, true for aborted.
 */
public boolean read(int registerAddress, int count, ByteBuffer buffer) {
  if (count < 1) {
    throw new BoundaryException("Value must be at least 1, " + count +
                                " given");
  }

  if (!buffer.isDirect())
    throw new IllegalArgumentException("must be a direct buffer");
  if (buffer.capacity() < count)
    throw new IllegalArgumentException("buffer is too small, must be at least " + count);

  ByteBuffer dataToSendBuffer = ByteBuffer.allocateDirect(1);
  dataToSendBuffer.put(0, (byte) registerAddress);

  return transaction(dataToSendBuffer, 1, buffer, count);
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Execute a read only transaction with the device.
 *
 * Read bytes from a device. This method does not write any data to prompt
 * the device.
 *
 * @param buffer A pointer to the array of bytes to store the data read from
 *        the device.
 * @param count The number of bytes to read in the transaction.
 * @return Transfer Aborted... false for success, true for aborted.
 */
public boolean readOnly(byte[] buffer, int count) {
  if (count < 1) {
    throw new BoundaryException("Value must be at least 1, " + count +
                                " given");
  }

  if (buffer == null) {
    throw new NullPointerException("Null return buffer was given");
  }

  ByteBuffer dataReceivedBuffer = ByteBuffer.allocateDirect(count);

  int retVal =
      I2CJNI.i2CRead((byte) m_port.getValue(), (byte) m_deviceAddress, dataReceivedBuffer,
          (byte) count);
  dataReceivedBuffer.get(buffer);
  return retVal < 0;
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Set the analog output voltage.
 *
 * AO1 is pin 11 on the top connector (P2).
 * AO2 is pin 12 on the top connector (P2).
 * AO1 is the reference voltage for the 2 analog comparators on DIO15 and DIO16.
 *
 * The output range is 0V to 4V, however due to the supply voltage don't expect more than about 3V.
 * Current supply capability is only 100uA.
 *
 * @param channel The analog output channel on the DS IO. [1,2]
 * @param value The voltage to output on the channel.
 */
public void setAnalogOut(int channel, double value) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 2);
    if (!m_outputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    if (value < 0.0) {
        value = 0.0;
    }
    if (value > kAnalogOutputReference) {
        value = kAnalogOutputReference;
    }
    if (value > kAnalogOutputReference) {
        value = kAnalogOutputReference;
    }

    synchronized (m_outputDataSemaphore) {
        m_outputData.data.dac[channel - 1] = (byte) (value / kAnalogOutputReference * kAnalogOutputResolution);
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Set the state of an LED on the IO board.
 *
 * @param channel The LED channel to set. [1,8]
 * @param value True to turn the LED on.
 */
public void setLED(int channel, boolean value) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 8);
    if (!m_outputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    byte leds;
    synchronized (m_outputDataSemaphore) {
        leds = m_outputData.data.leds;

        leds &= ~(1 << (channel - 1));
        if (value) {
            leds |= 1 << (channel - 1);
        }

        m_outputData.data.leds = leds;
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Set the state of a DIO line that is configured for digital output.
 *
 * @param channel The DIO channel to set. [1,16]
 * @param value The state to set the selected channel to.
 */
public void setDigitalOutput(int channel, boolean value) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 16);
    if (!m_outputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    short digital;
    synchronized (m_outputDataSemaphore) {

        if ((m_outputData.data.digital_oe & (1 << (channel - 1))) != 0) {
            digital = m_outputData.data.digital;

            digital &= ~(1 << (channel - 1));
            if (value) {
                digital |= 1 << (channel - 1);
            }

            m_outputData.data.digital = digital;
        } else {
            System.err.println("Line not configured for output");
        }
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Set the state to output on a Fixed High Current Digital Output line.
 *
 * FixedDO1 is pin 5 on the top connector (P2).
 * FixedDO2 is pin 3 on the top connector (P2).
 *
 * The FixedDO lines always output 0V and 3.3V regardless of J1 and J4.
 * They can source 4mA and can sink 25mA.  Because of this, they are expected to be used
 * in an active low configuration, such as connecting to the cathode of a bright LED.
 * Because they are expected to be active low, they default to true.
 *
 * @param channel The FixedDO channel to set.
 * @param value The state to set the FixedDO.
 */
public void setFixedDigitalOutput(int channel, boolean value) throws EnhancedIOException {
    BoundaryException.assertWithinBounds(channel, 1, 2);
    if (!m_outputValid) {
        throw new EnhancedIOException("Enhanced IO Missing");
    }
    byte digital;
    synchronized (m_outputDataSemaphore) {
        digital = m_outputData.data.fixed_digital_out;

        digital &= ~(1 << (channel - 1));
        if (value) {
            digital |= 1 << (channel - 1);
        }

        m_outputData.data.fixed_digital_out = digital;
    }
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Sets the maximum and minimum values expected from the input.
 *
 * @param minimumInput the minimum value expected from the input
 * @param maximumInput the maximum value expected from the output
 */
public void setInputRange(double minimumInput, double maximumInput) {
    if (minimumInput > maximumInput) {
        throw new BoundaryException("Lower bound is greater than upper bound");
    }
    m_minimumInput = minimumInput;
    m_maximumInput = maximumInput;
    setSetpoint(m_setpoint);
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Sets the minimum and maximum values to write.
 *
 * @param minimumOutput the minimum value to write to the output
 * @param maximumOutput the maximum value to write to the output
 */
public void setOutputRange(double minimumOutput, double maximumOutput) {
    if (minimumOutput > maximumOutput) {
        throw new BoundaryException("Lower bound is greater than upper bound");
    }
    m_minimumOutput = minimumOutput;
    m_maximumOutput = maximumOutput;
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Sets the maximum and minimum values expected from the input and setpoint.
 *
 * @param minimumInput the minimum value expected from the input
 * @param maximumInput the maximum value expected from the input
 */
public synchronized void setInputRange(double minimumInput, double maximumInput) {
  if (minimumInput > maximumInput) {
    throw new BoundaryException("Lower bound is greater than upper bound");
  }
  m_minimumInput = minimumInput;
  m_maximumInput = maximumInput;
  setSetpoint(m_setpoint);
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Sets the minimum and maximum values to write.
 *
 * @param minimumOutput the minimum percentage to write to the output
 * @param maximumOutput the maximum percentage to write to the output
 */
public synchronized void setOutputRange(double minimumOutput, double maximumOutput) {
  if (minimumOutput > maximumOutput) {
    throw new BoundaryException("Lower bound is greater than upper bound");
  }
  m_minimumOutput = minimumOutput;
  m_maximumOutput = maximumOutput;
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Set which parameter of the encoder you are using as a process control variable. The counter
 * class supports the rate and distance parameters.
 *
 * @param pidSource An enum to select the parameter.
 */
public void setPIDSourceType(PIDSourceType pidSource) {
  if (pidSource == null) {
    throw new NullPointerException("PID Source Parameter given was null");
  }
  BoundaryException.assertWithinBounds(pidSource.value, 0, 1);
  m_pidSource = pidSource;
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Set which parameter of the encoder you are using as a process control
 * variable. The counter class supports the rate and distance parameters.
 *
 * @param pidSource An enum to select the parameter.
 */
public void setPIDSourceType(PIDSourceType pidSource) {
  if (pidSource == null) {
    throw new NullPointerException("PID Source Parameter given was null");
  }
  BoundaryException.assertWithinBounds(pidSource.value, 0, 1);
  m_pidSource = pidSource;
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Execute a read only transaction with the device.
 * <p/>
 * Read 1 to 7 bytes from a device. This method does not write any data to prompt
 * the device.
 *
 * @param buffer A pointer to the array of bytes to store the data read from
 *               the device.
 * @param count  The number of bytes to read in the transaction. [1..7]
 * @return Transfer Aborted... false for success, true for aborted.
 */
public boolean readOnly(byte[] buffer, int count) {
    BoundaryException.assertWithinBounds(count, 1, 7);
    if (buffer == null) {
        throw new NullPointerException("Null return buffer was given");
    }

    ByteBuffer dataReceivedBuffer = ByteBuffer.allocateDirect(count);

    int retVal = 0;
    dataReceivedBuffer.get(buffer);
    return retVal < 0;
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Set the upper and lower limits of the analog trigger.
 * The limits are given in ADC codes.  If oversampling is used, the units must be scaled
 * appropriately.
 * @param lower the lower raw limit
 * @param upper the upper raw limit
 */
public void setLimitsRaw(final int lower, final int upper) {
    if (lower > upper) {
        throw new BoundaryException("Lower bound is greater than upper");
    }
    m_trigger.writeLowerLimit(lower);
    m_trigger.writeUpperLimit(upper);
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Set the upper and lower limits of the analog trigger.
 * The limits are given as floating point voltage values.
 * @param lower the lower voltage limit
 * @param upper the upper voltage limit
 */
public void setLimitsVoltage(double lower, double upper) {
    if (lower > upper) {
        throw new BoundaryException("Lower bound is greater than upper bound");
    }
    // TODO: This depends on the averaged setting.  Only raw values will work as is.
    m_trigger.writeLowerLimit(m_analogModule.voltsToValue(m_channel, lower));
    m_trigger.writeUpperLimit(m_analogModule.voltsToValue(m_channel, upper));
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Sets the maximum and minimum values expected from the input.
 *
 * @param minimumInput the minimum percentage expected from the input
 * @param maximumInput the maximum percentage expected from the output
 */
public synchronized void setInputRange(double minimumInput, double maximumInput) {
    if (minimumInput > maximumInput) {
        throw new BoundaryException("Lower bound is greater than upper bound");
    }
    m_minimumInput = minimumInput;
    m_maximumInput = maximumInput;
    setSetpoint(m_setpoint);
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Sets the minimum and maximum values to write.
 *
 * @param minimumOutput the minimum percentage to write to the output
 * @param maximumOutput the maximum percentage to write to the output
 */
public synchronized void setOutputRange(double minimumOutput, double maximumOutput) {
    if (minimumOutput > maximumOutput) {
        throw new BoundaryException("Lower bound is greater than upper bound");
    }
    m_minimumOutput = minimumOutput;
    m_maximumOutput = maximumOutput;
}
 

import edu.wpi.first.wpilibj.util.BoundaryException; //导入依赖的package包/类
/**
 * Set the Samples to Average which specifies the number of samples of the timer to 
 * average when calculating the period. Perform averaging to account for 
 * mechanical imperfections or as oversampling to increase resolution.
 * @param samplesToAverage The number of samples to average from 1 to 127.
 */
public void setSamplesToAverage(int samplesToAverage)
{
    BoundaryException.assertWithinBounds(samplesToAverage, 1, 127);
    switch (m_encodingType.value) {
        case EncodingType.k4X_val:
            m_encoder.writeTimerConfig_AverageSize(samplesToAverage);
            break;
        case EncodingType.k1X_val:
        case EncodingType.k2X_val:
            m_counter.setSamplesToAverage(samplesToAverage);
    }
}