Class Device

Namespace: Harp.OutputExpander

Assembly: Harp.OutputExpander.dll

Represents an observable source of messages from the Harp device connected at the specified serial port.

OutputExpander
whoAmI	1108
firmwareVersion	2.2
hardwareTargets	1.2

Registers

name	address	type	length	access	description	range	interfaceType
AuxInState	32	U8		Event	Reports the state of the auxiliary inputs.		AuxiliaryInputs
AuxInRisingEdge	33	U8		Write	Enables rising edge detection on the auxiliary inputs.		AuxiliaryInputs
AuxInFallingEdge	34	U8		Write	Enables falling edge detection on the auxiliary input port.		AuxiliaryInputs
OutputSet	35	U16		Write	Set the specified digital output lines.		DigitalOutputs
OutputClear	36	U16		Write	Clear the specified digital output lines		DigitalOutputs
OutputToggle	37	U16		Write	Toggle the specified digital output lines		DigitalOutputs
OutputState	38	U16		Write	Write the state of all digital output lines		DigitalOutputs
PwmAndStimEnable	39	U16		Write	Enables PWM and stimulation on the specified digital output lines.		PwmAndStimMappings
PwmAndStimDisable	40	U16		Write	Disables PWM and stimulation on the specified digital output lines.		PwmAndStimMappings
PwmAndStimState	41	U16		Write	Writes the mapping between PWM/stimulation and the specified digital output lines in a single command.		PwmAndStimMappings
Pwm0Frequency	42	Float		Write	Sets the frequency of PWM0 (Hz).	[0.5:1000]
Pwm0DutyCycle	43	Float		Write	Sets the duty cycle of PWM0 (%).	50 [1:100]
Pwm0PulseCount	44	U16		Write	Sets the number of pulses to generate for PWM0.
Pwm0ActualFrequency	45	Float		Read	Reports the actual frequency to be generated from PWM0 (Hz).
Pwm0ActualDutyCycle	46	Float		Read	Reports the actual duty cycle to be generated from PWM0 (%).
Pwm0AcquisitionMode	47	U8		Write	Sets the acquisition mode of PWM0.		AcquisitionMode
Pwm0TriggerSource	48	U8		Write	Sets the trigger source of PWM0.		TriggerSource
Pwm0EventConfig	49	U8		Write	Enables the generation of events for PWM0.		EnableFlag
Pwm1Frequency	50	Float		Write	Sets the frequency of PWM1 (Hz).	[0.5:1000]
Pwm1DutyCycle	51	Float		Write	Sets the duty cycle of PWM1 (%).	50 [1:100]
Pwm1PulseCount	52	U16		Write	Sets the number of pulses to generate for PWM1.
Pwm1ActualFrequency	53	Float		Read	Reports the actual frequency to be generated from PWM1 (Hz).
Pwm1ActualDutyCycle	54	Float		Read	Reports the actual duty cycle to be generated from PWM1 (%).
Pwm1AcquisitionMode	55	U8		Write	Sets the acquisition mode of PWM1.		AcquisitionMode
Pwm1TriggerSource	56	U8		Write	Sets the trigger source of PWM1.		TriggerSource
Pwm1EventConfig	57	U8		Write	Enables the generation of events for PWM1.		EnableFlag
Pwm2Frequency	58	Float		Write	Sets the frequency of PWM2 (Hz).	[0.5:1000]
Pwm2DutyCycle	59	Float		Write	Sets the duty cycle of PWM2 (%).	50 [1:100]
Pwm2PulseCount	60	U16		Write	Sets the number of pulses to generate for PWM2.
Pwm2ActualFrequency	61	Float		Read	Reports the actual frequency to be generated from PWM2 (Hz).
Pwm2ActualDutyCycle	62	Float		Read	Reports the actual duty cycle to be generated from PWM2 (%).
Pwm2AcquisitionMode	63	U8		Write	Sets the acquisition mode of PWM2.		AcquisitionMode
Pwm2TriggerSource	64	U8		Write	Sets the trigger source of PWM2.		TriggerSource
Pwm2EventConfig	65	U8		Write	Enables the generation of events for PWM2.		EnableFlag
PwmStart	66	U8		Write, Event	Starts the a PWM on the specified channels. An event will be generated if the start was triggered by an auxiliary input.		PwmChannels
PwmStop	67	U8		Write	Stops the a PWM on the specified channels.		PwmChannels
PwmRiseEvent	68	U8		Write, Event	Enables the generation of an event on every rising edge of the PWM line.		PwmChannels
Stim0PulseOnTime	69	U16		Write	Sets the duration (us) each pulse is on for.
Stim0PulseOffTime	70	U16		Write	Sets the duration (us) each pulse is off for.
Stim0PulseCount	71	U16		Write	Sets the number of pulses to be generate when triggered.
Stim0AcquisitionMode	72	U8		Write	Sets the acquisition mode of Stim0.		AcquisitionMode
Stim0TriggerSource	73	U8		Write	Sets the trigger source of Stim0.		TriggerSource
StimStart	74	U8		Write	Starts a target Stim protocol.		StimChannels
StimStop	75	U8		Write	Stops the target Stim protocol.		StimChannels
OutputPulse	76	U16		Write	Enables pulse generation on the specified digital output line.		DigitalOutputs
Out0PulseWidth	77	U16		Write	Sets the duration (ms) of the pulse to be generated on the specified digital output line.
Out1PulseWidth	78	U16		Write	Sets the duration (ms) of the pulse to be generated on the specified digital output line.
Out2PulseWidth	79	U16		Write	Sets the duration (ms) of the pulse to be generated on the specified digital output line.
Out3PulseWidth	80	U16		Write	Sets the duration (ms) of the pulse to be generated on the specified digital output line.
Out4PulseWidth	81	U16		Write	Sets the duration (ms) of the pulse to be generated on the specified digital output line.
Out5PulseWidth	82	U16		Write	Sets the duration (ms) of the pulse to be generated on the specified digital output line.
Out6PulseWidth	83	U16		Write	Sets the duration (ms) of the pulse to be generated on the specified digital output line.
Out7PulseWidth	84	U16		Write	Sets the duration (ms) of the pulse to be generated on the specified digital output line.
Out8PulseWidth	85	U16		Write	Sets the duration (ms) of the pulse to be generated on the specified digital output line.
Out9PulseWidth	86	U16		Write	Sets the duration (ms) of the pulse to be generated on the specified digital output line.
ExpansionBoard	87	U8		Write	Selects the board to be interfaced with via the expansion port.		ExpansionBoardType
MagneticEncoder	90	U16	2	Event	Generated event with the latest read from the magnetic encoder.		MagneticEncoderPayload
MagneticEncoderSampleRate	91	U8		Write	Sets the sample rate of the magnetic encoder.		MagneticEncoderSampleRateMode
ServoPeriod	94	U16		Write	Sets the period of the servo pulses (us).
Servo0PulseWidth	95	U16		Write	Sets the pulse width of the Servo0 pulses (us).
Servo1PulseWidth	96	U16		Write	Sets the pulse width of the Servo1 pulses (us).
Servo2PulseWidth	97	U16		Write	Sets the pulse width of the Servo2 pulses (us).
OpticalFlow	100	S16	3	Event	Generated event with the latest read from the optical flow sensor.		OpticalFlowPayload

[Combinator(MethodName = "Generate")]
[WorkflowElementCategory(ElementCategory.Source)]
public class Device : Device, INamedElement

Inheritance: object

Source<HarpMessage>

Device

Device

Implements: INamedElement

Inherited Members: Device.Generate()

Device.Generate(IObservable<HarpMessage>)

Device.OperationMode

Device.OperationLed

Device.DumpRegisters

Device.VisualIndicators

Device.Heartbeat

Device.IgnoreErrors

Device.PortName

object.ToString()

object.Equals(object)

object.Equals(object, object)

object.ReferenceEquals(object, object)

object.GetHashCode()

object.GetType()

object.MemberwiseClone()

Constructors

Device()

Initializes a new instance of the Device class.

public Device()

Fields

WhoAmI

Represents the unique identity class of the Harp.OutputExpander device. This field is constant.

public const int WhoAmI = 1108

Field Value

int

Properties

RegisterMap

Gets a read-only mapping from address to register type.

public static IReadOnlyDictionary<int, Type> RegisterMap { get; }

Property Value

IReadOnlyDictionary<int, Type>

Methods

CreateAsync(string)

Initializes a new instance of the asynchronous API to configure and interface with OutputExpander devices on the specified serial port.

public static Task<AsyncDevice> CreateAsync(string portName)

Parameters

portName string: The name of the serial port used to communicate with the Harp device.

Returns

Task<AsyncDevice>: A task that represents the asynchronous initialization operation. The value of the Result parameter contains a new instance of the AsyncDevice class.

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