edu.wpi.first.wpilibj

## Class AnalogTriggerOutput

- java.lang.Object
- - edu.wpi.first.wpilibj.SensorBase
  - - edu.wpi.first.wpilibj.InterruptableSensorBase
    - - edu.wpi.first.wpilibj.DigitalSource
      - - edu.wpi.first.wpilibj.AnalogTriggerOutput

-     public class AnalogTriggerOutput
      extends DigitalSource

  Class to represent a specific output from an analog trigger. This class is used to get the current output value and also as a DigitalSource to provide routing of an output to digital subsystems on the FPGA such as Counter, Encoder, and Interrupt.

  The TriggerState output indicates the primary output value of the trigger. If the analog signal is less than the lower limit, the output is false. If the analog value is greater than the upper limit, then the output is true. If the analog value is in between, then the trigger output state maintains its most recent value.

  The InWindow output indicates whether or not the analog signal is inside the range defined by the limits.

  The RisingPulse and FallingPulse outputs detect an instantaneous transition from above the upper limit to below the lower limit, and vise versa. These pulses represent a rollover condition of a sensor and can be routed to an up / down counter or to interrupts. Because the outputs generate a pulse, they cannot be read directly. To help ensure that a rollover condition is not missed, there is an average rejection filter available that operates on the upper 8 bits of a 12 bit number and selects the nearest outlier of 3 samples. This will reject a sample that is (due to averaging or sampling) errantly between the two limits. This filter will fail if more than one sample in a row is errantly in between the two limits. You may see this problem if attempting to use this feature with a mechanical rollover sensor, such as a 360 degree no-stop potentiometer without signal conditioning, because the rollover transition is not sharp / clean enough. Using the averaging engine may help with this, but rotational speeds of the sensor will then be limited.

- - ### Nested Class Summary

    Nested Classes
    Modifier and Type | Class and Description
    --- | ---
    `class` | `AnalogTriggerOutput.AnalogTriggerOutputException` Exceptions dealing with improper operation of the Analog trigger output.
    `static class` | `AnalogTriggerOutput.AnalogTriggerType` Defines the state in which the AnalogTrigger triggers.

    - ### Nested classes/interfaces inherited from class edu.wpi.first.wpilibj.InterruptableSensorBase

      `InterruptableSensorBase.WaitResult`

  - ### Field Summary

    - ### Fields inherited from class edu.wpi.first.wpilibj.InterruptableSensorBase

      `m_interrupt, m_isSynchronousInterrupt`

    - ### Fields inherited from class edu.wpi.first.wpilibj.SensorBase

      `kAnalogInputChannels, kAnalogOutputChannels, kDigitalChannels, kPCMModules, kPDPChannels, kPDPModules, kPwmChannels, kRelayChannels, kSolenoidChannels, kSystemClockTicksPerMicrosecond`

  - ### Constructor Summary

    Constructors
    Constructor and Description
    `AnalogTriggerOutput(AnalogTrigger trigger, AnalogTriggerOutput.AnalogTriggerType outputType)` Create an object that represents one of the four outputs from an analog trigger.

  - ### Method Summary

    All Methods Instance Methods Concrete Methods
    Modifier and Type | Method and Description
    --- | ---
    `void` | `free()` Frees the resources for this output.
    `boolean` | `get()` Get the state of the analog trigger output.
    `int` | `getAnalogTriggerTypeForRouting()` If this is an analog trigger.
    `int` | `getChannel()`
    `int` | `getPortHandleForRouting()` The channel routing number.
    `boolean` | `isAnalogTrigger()`

    - ### Methods inherited from class edu.wpi.first.wpilibj.InterruptableSensorBase

      `allocateInterrupts, cancelInterrupts, disableInterrupts, enableInterrupts, readFallingTimestamp, readRisingTimestamp, requestInterrupts, requestInterrupts, setUpSourceEdge, waitForInterrupt, waitForInterrupt`

    - ### Methods inherited from class edu.wpi.first.wpilibj.SensorBase

      `checkAnalogInputChannel, checkAnalogOutputChannel, checkDigitalChannel, checkPDPChannel, checkPDPModule, checkPWMChannel, checkRelayChannel, checkSolenoidChannel, checkSolenoidModule, getDefaultSolenoidModule, setDefaultSolenoidModule`

    - ### Methods inherited from class java.lang.Object

      `clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait`

- - ### Constructor Detail

    - #### AnalogTriggerOutput

          public AnalogTriggerOutput(AnalogTrigger trigger,
                                     AnalogTriggerOutput.AnalogTriggerType outputType)

      Create an object that represents one of the four outputs from an analog trigger.

      Because this class derives from DigitalSource, it can be passed into routing functions for Counter, Encoder, etc.

      Parameters:
        `trigger` - The trigger for which this is an output.
        `outputType` - An enum that specifies the output on the trigger to represent.

  - ### Method Detail

    - #### free

          public void free()

      Frees the resources for this output.
      Overrides:
        `free` in class `SensorBase`

    - #### get

          public boolean get()

      Get the state of the analog trigger output.
      Returns:
        The state of the analog trigger output.

    - #### getPortHandleForRouting

          public int getPortHandleForRouting()

      Description copied from class: `InterruptableSensorBase`
      The channel routing number.
      Specified by:
        `getPortHandleForRouting` in class `InterruptableSensorBase`
      Returns:
        channel routing number

    - #### getAnalogTriggerTypeForRouting

          public int getAnalogTriggerTypeForRouting()

      Description copied from class: `InterruptableSensorBase`
      If this is an analog trigger.
      Specified by:
        `getAnalogTriggerTypeForRouting` in class `InterruptableSensorBase`
      Returns:
        true if this is an analog trigger.

    - #### getChannel

          public int getChannel()

      Specified by:
        `getChannel` in class `DigitalSource`

    - #### isAnalogTrigger

          public boolean isAnalogTrigger()

      Specified by:
        `isAnalogTrigger` in class `DigitalSource`