Digital I/O Sensors

• Description
• Initialization
• Reading Input

Description

Digital I/O sensors are sensors that can be connected to the digital I/O ports on the RoboRIO. These sensors provide a digital 1 or 0 signal, which can be used to determine if the sensor is triggered or not. Some digital I/O sensors include beam breaks, limit switches, and flag sensors.

Initialization

To read input from a digital I/O sensor, we utilize the frc::DigitalInput class. The frc::DigitalInput class is initialized with the port number of the digital I/O sensor on the roboRIO.

#include <frc/DigitalInput.h>

frc::DigitalInput sensor {0};

Reading Input

To read input from a digital I/O sensor, we use the frc::DigitalInput::Get() method. This method returns a boolean value, which is true if the sensor is triggered and false if the sensor is not triggered.

bool triggered = sensor.Get();