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<div class="subTitle">edu.wpi.first.wpilibj</div>
<h2 title="Class SensorBase" class="title">Class SensorBase</h2>
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<ul class="inheritance">
<li>java.lang.Object</li>
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<ul class="inheritance">
<li>edu.wpi.first.wpilibj.SensorBase</li>
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<dt>Direct Known Subclasses:</dt>
<dd><a href="../../../../edu/wpi/first/wpilibj/ADXL345_I2C.html" title="class in edu.wpi.first.wpilibj">ADXL345_I2C</a>, <a href="../../../../edu/wpi/first/wpilibj/ADXL345_SPI.html" title="class in edu.wpi.first.wpilibj">ADXL345_SPI</a>, <a href="../../../../edu/wpi/first/wpilibj/ADXL362.html" title="class in edu.wpi.first.wpilibj">ADXL362</a>, <a href="../../../../edu/wpi/first/wpilibj/AnalogAccelerometer.html" title="class in edu.wpi.first.wpilibj">AnalogAccelerometer</a>, <a href="../../../../edu/wpi/first/wpilibj/AnalogInput.html" title="class in edu.wpi.first.wpilibj">AnalogInput</a>, <a href="../../../../edu/wpi/first/wpilibj/AnalogOutput.html" title="class in edu.wpi.first.wpilibj">AnalogOutput</a>, <a href="../../../../edu/wpi/first/wpilibj/Compressor.html" title="class in edu.wpi.first.wpilibj">Compressor</a>, <a href="../../../../edu/wpi/first/wpilibj/Counter.html" title="class in edu.wpi.first.wpilibj">Counter</a>, <a href="../../../../edu/wpi/first/wpilibj/DigitalGlitchFilter.html" title="class in edu.wpi.first.wpilibj">DigitalGlitchFilter</a>, <a href="../../../../edu/wpi/first/wpilibj/Encoder.html" title="class in edu.wpi.first.wpilibj">Encoder</a>, <a href="../../../../edu/wpi/first/wpilibj/GyroBase.html" title="class in edu.wpi.first.wpilibj">GyroBase</a>, <a href="../../../../edu/wpi/first/wpilibj/I2C.html" title="class in edu.wpi.first.wpilibj">I2C</a>, <a href="../../../../edu/wpi/first/wpilibj/InterruptableSensorBase.html" title="class in edu.wpi.first.wpilibj">InterruptableSensorBase</a>, <a href="../../../../edu/wpi/first/wpilibj/PowerDistributionPanel.html" title="class in edu.wpi.first.wpilibj">PowerDistributionPanel</a>, <a href="../../../../edu/wpi/first/wpilibj/PWM.html" title="class in edu.wpi.first.wpilibj">PWM</a>, <a href="../../../../edu/wpi/first/wpilibj/Relay.html" title="class in edu.wpi.first.wpilibj">Relay</a>, <a href="../../../../edu/wpi/first/wpilibj/SolenoidBase.html" title="class in edu.wpi.first.wpilibj">SolenoidBase</a>, <a href="../../../../edu/wpi/first/wpilibj/SPI.html" title="class in edu.wpi.first.wpilibj">SPI</a>, <a href="../../../../edu/wpi/first/wpilibj/Ultrasonic.html" title="class in edu.wpi.first.wpilibj">Ultrasonic</a></dd>
</dl>
<hr>
<br>
<pre>public abstract class <span class="typeNameLabel">SensorBase</span>
extends java.lang.Object</pre>
<div class="block">Base class for all sensors. Stores most recent status information as well as containing utility
functions for checking channels and error processing.</div>
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<h3>Field Summary</h3>
<table class="memberSummary" border="0" cellpadding="3" cellspacing="0" summary="Field Summary table, listing fields, and an explanation">
<caption><span>Fields</span><span class="tabEnd"> </span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Field and Description</th>
</tr>
<tr class="altColor">
<td class="colFirst"><code>static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogInputChannels">kAnalogInputChannels</a></span></code>
<div class="block">Number of analog input channels per roboRIO.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kAnalogOutputChannels">kAnalogOutputChannels</a></span></code>
<div class="block">Number of analog output channels per roboRIO.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kDigitalChannels">kDigitalChannels</a></span></code>
<div class="block">Number of digital channels per roboRIO.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPCMModules">kPCMModules</a></span></code>
<div class="block">Number of PCM Modules.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPChannels">kPDPChannels</a></span></code>
<div class="block">Number of power distribution channels per PDP.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPDPModules">kPDPModules</a></span></code>
<div class="block">Number of power distribution modules per PDP.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kPwmChannels">kPwmChannels</a></span></code>
<div class="block">Number of PWM channels per roboRIO.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kRelayChannels">kRelayChannels</a></span></code>
<div class="block">Number of relay channels per roboRIO.</div>
</td>
</tr>
<tr class="altColor">
<td class="colFirst"><code>static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSolenoidChannels">kSolenoidChannels</a></span></code>
<div class="block">Number of solenoid channels per module.</div>
</td>
</tr>
<tr class="rowColor">
<td class="colFirst"><code>static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#kSystemClockTicksPerMicrosecond">kSystemClockTicksPerMicrosecond</a></span></code>
<div class="block">Ticks per microsecond.</div>
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<h3>Constructor Summary</h3>
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<caption><span>Constructors</span><span class="tabEnd"> </span></caption>
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<th class="colOne" scope="col">Constructor and Description</th>
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<tr class="altColor">
<td class="colOne"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#SensorBase--">SensorBase</a></span>()</code>
<div class="block">Creates an instance of the sensor base and gets an FPGA handle.</div>
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<h3>Method Summary</h3>
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<caption><span id="t0" class="activeTableTab"><span>All Methods</span><span class="tabEnd"> </span></span><span id="t1" class="tableTab"><span><a href="javascript:show(1);">Static Methods</a></span><span class="tabEnd"> </span></span><span id="t2" class="tableTab"><span><a href="javascript:show(2);">Instance Methods</a></span><span class="tabEnd"> </span></span><span id="t4" class="tableTab"><span><a href="javascript:show(8);">Concrete Methods</a></span><span class="tabEnd"> </span></span></caption>
<tr>
<th class="colFirst" scope="col">Modifier and Type</th>
<th class="colLast" scope="col">Method and Description</th>
</tr>
<tr id="i0" class="altColor">
<td class="colFirst"><code>protected static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogInputChannel-int-">checkAnalogInputChannel</a></span>(int channel)</code>
<div class="block">Check that the analog input number is value.</div>
</td>
</tr>
<tr id="i1" class="rowColor">
<td class="colFirst"><code>protected static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkAnalogOutputChannel-int-">checkAnalogOutputChannel</a></span>(int channel)</code>
<div class="block">Check that the analog input number is value.</div>
</td>
</tr>
<tr id="i2" class="altColor">
<td class="colFirst"><code>protected static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkDigitalChannel-int-">checkDigitalChannel</a></span>(int channel)</code>
<div class="block">Check that the digital channel number is valid.</div>
</td>
</tr>
<tr id="i3" class="rowColor">
<td class="colFirst"><code>protected static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPChannel-int-">checkPDPChannel</a></span>(int channel)</code>
<div class="block">Verify that the power distribution channel number is within limits.</div>
</td>
</tr>
<tr id="i4" class="altColor">
<td class="colFirst"><code>protected static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPDPModule-int-">checkPDPModule</a></span>(int module)</code>
<div class="block">Verify that the PDP module number is within limits.</div>
</td>
</tr>
<tr id="i5" class="rowColor">
<td class="colFirst"><code>protected static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkPWMChannel-int-">checkPWMChannel</a></span>(int channel)</code>
<div class="block">Check that the digital channel number is valid.</div>
</td>
</tr>
<tr id="i6" class="altColor">
<td class="colFirst"><code>protected static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkRelayChannel-int-">checkRelayChannel</a></span>(int channel)</code>
<div class="block">Check that the digital channel number is valid.</div>
</td>
</tr>
<tr id="i7" class="rowColor">
<td class="colFirst"><code>protected static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidChannel-int-">checkSolenoidChannel</a></span>(int channel)</code>
<div class="block">Verify that the solenoid channel number is within limits.</div>
</td>
</tr>
<tr id="i8" class="altColor">
<td class="colFirst"><code>protected static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#checkSolenoidModule-int-">checkSolenoidModule</a></span>(int moduleNumber)</code>
<div class="block">Verify that the solenoid module is correct.</div>
</td>
</tr>
<tr id="i9" class="rowColor">
<td class="colFirst"><code>void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#free--">free</a></span>()</code>
<div class="block">Free the resources used by this object.</div>
</td>
</tr>
<tr id="i10" class="altColor">
<td class="colFirst"><code>static int</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#getDefaultSolenoidModule--">getDefaultSolenoidModule</a></span>()</code>
<div class="block">Get the number of the default solenoid module.</div>
</td>
</tr>
<tr id="i11" class="rowColor">
<td class="colFirst"><code>static void</code></td>
<td class="colLast"><code><span class="memberNameLink"><a href="../../../../edu/wpi/first/wpilibj/SensorBase.html#setDefaultSolenoidModule-int-">setDefaultSolenoidModule</a></span>(int moduleNumber)</code>
<div class="block">Set the default location for the Solenoid module.</div>
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<h3>Methods inherited from class java.lang.Object</h3>
<code>clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait</code></li>
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<h4>kSystemClockTicksPerMicrosecond</h4>
<pre>public static final int kSystemClockTicksPerMicrosecond</pre>
<div class="block">Ticks per microsecond.</div>
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<h4>kDigitalChannels</h4>
<pre>public static final int kDigitalChannels</pre>
<div class="block">Number of digital channels per roboRIO.</div>
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<pre>public static final int kAnalogInputChannels</pre>
<div class="block">Number of analog input channels per roboRIO.</div>
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<pre>public static final int kAnalogOutputChannels</pre>
<div class="block">Number of analog output channels per roboRIO.</div>
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<pre>public static final int kSolenoidChannels</pre>
<div class="block">Number of solenoid channels per module.</div>
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<pre>public static final int kPwmChannels</pre>
<div class="block">Number of PWM channels per roboRIO.</div>
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<pre>public static final int kRelayChannels</pre>
<div class="block">Number of relay channels per roboRIO.</div>
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<pre>public static final int kPDPChannels</pre>
<div class="block">Number of power distribution channels per PDP.</div>
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<pre>public static final int kPDPModules</pre>
<div class="block">Number of power distribution modules per PDP.</div>
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<pre>public static final int kPCMModules</pre>
<div class="block">Number of PCM Modules.</div>
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<h4>SensorBase</h4>
<pre>public SensorBase()</pre>
<div class="block">Creates an instance of the sensor base and gets an FPGA handle.</div>
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<h4>setDefaultSolenoidModule</h4>
<pre>public static void setDefaultSolenoidModule(int moduleNumber)</pre>
<div class="block">Set the default location for the Solenoid module.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>moduleNumber</code> - The number of the solenoid module to use.</dd>
</dl>
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<h4>checkSolenoidModule</h4>
<pre>protected static void checkSolenoidModule(int moduleNumber)</pre>
<div class="block">Verify that the solenoid module is correct.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>moduleNumber</code> - The solenoid module module number to check.</dd>
</dl>
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<h4>checkDigitalChannel</h4>
<pre>protected static void checkDigitalChannel(int channel)</pre>
<div class="block">Check that the digital channel number is valid. Verify that the channel number is one of the
legal channel numbers. Channel numbers are 0-based.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>channel</code> - The channel number to check.</dd>
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<h4>checkRelayChannel</h4>
<pre>protected static void checkRelayChannel(int channel)</pre>
<div class="block">Check that the digital channel number is valid. Verify that the channel number is one of the
legal channel numbers. Channel numbers are 0-based.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>channel</code> - The channel number to check.</dd>
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<pre>protected static void checkPWMChannel(int channel)</pre>
<div class="block">Check that the digital channel number is valid. Verify that the channel number is one of the
legal channel numbers. Channel numbers are 0-based.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>channel</code> - The channel number to check.</dd>
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<pre>protected static void checkAnalogInputChannel(int channel)</pre>
<div class="block">Check that the analog input number is value. Verify that the analog input number is one of the
legal channel numbers. Channel numbers are 0-based.</div>
<dl>
<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>channel</code> - The channel number to check.</dd>
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<h4>checkAnalogOutputChannel</h4>
<pre>protected static void checkAnalogOutputChannel(int channel)</pre>
<div class="block">Check that the analog input number is value. Verify that the analog input number is one of the
legal channel numbers. Channel numbers are 0-based.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>channel</code> - The channel number to check.</dd>
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<h4>checkSolenoidChannel</h4>
<pre>protected static void checkSolenoidChannel(int channel)</pre>
<div class="block">Verify that the solenoid channel number is within limits. Channel numbers are 0-based.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>channel</code> - The channel number to check.</dd>
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<pre>protected static void checkPDPChannel(int channel)</pre>
<div class="block">Verify that the power distribution channel number is within limits. Channel numbers are
0-based.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>channel</code> - The channel number to check.</dd>
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<pre>protected static void checkPDPModule(int module)</pre>
<div class="block">Verify that the PDP module number is within limits. module numbers are 0-based.</div>
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<dt><span class="paramLabel">Parameters:</span></dt>
<dd><code>module</code> - The module number to check.</dd>
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<pre>public static int getDefaultSolenoidModule()</pre>
<div class="block">Get the number of the default solenoid module.</div>
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<dt><span class="returnLabel">Returns:</span></dt>
<dd>The number of the default solenoid module.</dd>
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<h4>free</h4>
<pre>public void free()</pre>
<div class="block">Free the resources used by this object.</div>
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