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PwmOutput
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ioio.lib.api</FONT>
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<BR>
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Interface PwmOutput</H2>
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<DL>
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<DT><B>All Superinterfaces:</B> <DD><A HREF="../../../ioio/lib/api/Closeable.html" title="interface in ioio.lib.api">Closeable</A></DD>
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<DL>
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<DT><PRE>public interface <B>PwmOutput</B><DT>extends <A HREF="../../../ioio/lib/api/Closeable.html" title="interface in ioio.lib.api">Closeable</A></DL>
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</PRE>
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<P>
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A pin used for PWM (Pulse-Width Modulation) output.
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<p>
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A PWM pin produces a logic-level PWM signal. These signals are typically used
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for simulating analog outputs for controlling the intensity of LEDs, the
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rotation speed of motors, etc. They are also frequently used for controlling
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hobby servo motors. PwmOutput instances are obtained by calling
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<A HREF="../../../ioio/lib/api/IOIO.html#openPwmOutput(ioio.lib.api.DigitalOutput.Spec, int)"><CODE>IOIO.openPwmOutput(ioio.lib.api.DigitalOutput.Spec, int)</CODE></A>.
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<p>
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When used for motors and LEDs, a frequency of several KHz is typically used,
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where there is a trade-off between switching power-loses and smoothness of
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operation. The pulse width is typically set by specifying the duty cycle,
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with the <A HREF="../../../ioio/lib/api/PwmOutput.html#setDutyCycle(float)"><CODE>setDutyCycle(float)</CODE></A> method. A duty cycle of 0 is "off", a
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duty cycle of 1 is "on", and every intermediate value produces an
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intermediate intensity. Please note that any devices consuming more than 20mA
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of current (e.g. motors) should not by directly connected the the IOIO pins,
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but rather through an amplification circuit suited for the specific load.
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<p>
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When used for hobby servos, the PWM signal is rather used for encoding of the
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desired angle the motor should go to. By standard, a 100Hz signal is used and
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the pulse width is varied between 1ms and 2ms (corresponding to both extremes
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of the shaft angle), using <A HREF="../../../ioio/lib/api/PwmOutput.html#setPulseWidth(int)"><CODE>setPulseWidth(int)</CODE></A>.
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<p>
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The instance is alive since its creation. If the connection with the IOIO
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drops at any point, the instance transitions to a disconnected state, in
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which every attempt to use the pin (except <A HREF="../../../ioio/lib/api/Closeable.html#close()"><CODE>Closeable.close()</CODE></A>) will throw a
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<A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception"><CODE>ConnectionLostException</CODE></A>. Whenever <A HREF="../../../ioio/lib/api/Closeable.html#close()"><CODE>Closeable.close()</CODE></A> is invoked the
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instance may no longer be used. Any resources associated with it are freed
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and can be reused.
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<p>
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Typical usage (fading LED):
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<pre>
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PwmOutput servo = ioio.openPwmOutput(12, 1000); // LED anode on pin 12
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...
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servo.setDutyCycle(0.0f); // LED off
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...
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servo.setDutyCycle(0.5f); // 50% intensity
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...
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servo.setDutyCycle(1.0f); // 100% intensity
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...
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servo.close(); // pin 12 can now be used for something else.
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</pre>
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<p>
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Typical usage (servo):
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<pre>
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PwmOutput servo = ioio.openPwmOutput(12, 100);
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...
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servo.setPulseWidth(1000); // 1000us = 1ms = one extreme
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...
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servo.setPulseWidth(1500); // 1500us = 1.5ms = center
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...
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servo.setPulseWidth(2000); // 2000us = 2ms = other extreme
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...
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servo.close(); // pin 12 can now be used for something else.
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</pre>
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<P>
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<P>
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<DL>
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<DT><B>See Also:</B><DD><A HREF="../../../ioio/lib/api/IOIO.html#openPwmOutput(ioio.lib.api.DigitalOutput.Spec, int)"><CODE>IOIO.openPwmOutput(ioio.lib.api.DigitalOutput.Spec, int)</CODE></A></DL>
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<HR>
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<P>
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<!-- ========== METHOD SUMMARY =========== -->
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<A NAME="method_summary"><!-- --></A>
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<TABLE BORDER="1" WIDTH="100%" CELLPADDING="3" CELLSPACING="0" SUMMARY="">
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<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
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<CODE> void</CODE></FONT></TD>
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<TD><CODE><B><A HREF="../../../ioio/lib/api/PwmOutput.html#setDutyCycle(float)">setDutyCycle</A></B>(float dutyCycle)</CODE>
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<BR>
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Sets the duty cycle of the PWM output.</TD>
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</TR>
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<TR BGCOLOR="white" CLASS="TableRowColor">
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<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
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<CODE> void</CODE></FONT></TD>
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<TD><CODE><B><A HREF="../../../ioio/lib/api/PwmOutput.html#setPulseWidth(float)">setPulseWidth</A></B>(float pulseWidthUs)</CODE>
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<BR>
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The same as <A HREF="../../../ioio/lib/api/PwmOutput.html#setPulseWidth(int)"><CODE>setPulseWidth(int)</CODE></A>, but with sub-microsecond
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precision.</TD>
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<TR BGCOLOR="white" CLASS="TableRowColor">
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<TD ALIGN="right" VALIGN="top" WIDTH="1%"><FONT SIZE="-1">
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<CODE> void</CODE></FONT></TD>
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<TD><CODE><B><A HREF="../../../ioio/lib/api/PwmOutput.html#setPulseWidth(int)">setPulseWidth</A></B>(int pulseWidthUs)</CODE>
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<BR>
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Sets the pulse width of the PWM output.</TD>
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</TR>
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</TABLE>
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<A NAME="methods_inherited_from_class_ioio.lib.api.Closeable"><!-- --></A>
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<TH ALIGN="left"><B>Methods inherited from interface ioio.lib.api.<A HREF="../../../ioio/lib/api/Closeable.html" title="interface in ioio.lib.api">Closeable</A></B></TH>
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<TR BGCOLOR="white" CLASS="TableRowColor">
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<TD><CODE><A HREF="../../../ioio/lib/api/Closeable.html#close()">close</A></CODE></TD>
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<!-- ============ METHOD DETAIL ========== -->
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<A NAME="setDutyCycle(float)"><!-- --></A><H3>
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setDutyCycle</H3>
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<PRE>
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void <B>setDutyCycle</B>(float dutyCycle)
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throws <A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception">ConnectionLostException</A></PRE>
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<DL>
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<DD>Sets the duty cycle of the PWM output. The duty cycle is defined to be
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the pulse width divided by the total cycle period. For absolute control
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of the pulse with, consider using <A HREF="../../../ioio/lib/api/PwmOutput.html#setPulseWidth(int)"><CODE>setPulseWidth(int)</CODE></A>.
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<P>
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<DD><DL>
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</DL>
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</DD>
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<DD><DL>
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<DT><B>Parameters:</B><DD><CODE>dutyCycle</CODE> - The duty cycle, as a real value from 0.0 to 1.0.
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<DT><B>Throws:</B>
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<DD><CODE><A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception">ConnectionLostException</A></CODE> - The connection to the IOIO has been lost.<DT><B>See Also:</B><DD><A HREF="../../../ioio/lib/api/PwmOutput.html#setPulseWidth(int)"><CODE>setPulseWidth(int)</CODE></A></DL>
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</DD>
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</DL>
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<HR>
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<A NAME="setPulseWidth(int)"><!-- --></A><H3>
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setPulseWidth</H3>
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<PRE>
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void <B>setPulseWidth</B>(int pulseWidthUs)
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throws <A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception">ConnectionLostException</A></PRE>
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<DL>
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<DD>Sets the pulse width of the PWM output. The pulse width is duration of
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the high-time within a single period of the signal. For relative control
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of the pulse with, consider using <A HREF="../../../ioio/lib/api/PwmOutput.html#setDutyCycle(float)"><CODE>setDutyCycle(float)</CODE></A>.
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<P>
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<DD><DL>
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</DL>
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</DD>
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<DD><DL>
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<DT><B>Parameters:</B><DD><CODE>pulseWidthUs</CODE> - The pulse width, in microsecond units.
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<DT><B>Throws:</B>
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<DD><CODE><A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception">ConnectionLostException</A></CODE> - The connection to the IOIO has been lost.<DT><B>See Also:</B><DD><A HREF="../../../ioio/lib/api/PwmOutput.html#setDutyCycle(float)"><CODE>setDutyCycle(float)</CODE></A></DL>
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</DD>
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</DL>
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<HR>
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<A NAME="setPulseWidth(float)"><!-- --></A><H3>
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setPulseWidth</H3>
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<PRE>
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void <B>setPulseWidth</B>(float pulseWidthUs)
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throws <A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception">ConnectionLostException</A></PRE>
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<DL>
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<DD>The same as <A HREF="../../../ioio/lib/api/PwmOutput.html#setPulseWidth(int)"><CODE>setPulseWidth(int)</CODE></A>, but with sub-microsecond
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precision.
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<P>
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<DD><DL>
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</DL>
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</DD>
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<DD><DL>
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<DT><B>Throws:</B>
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<DD><CODE><A HREF="../../../ioio/lib/api/exception/ConnectionLostException.html" title="class in ioio.lib.api.exception">ConnectionLostException</A></CODE></DL>
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</DD>
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