Antilatency Hardware Extension Interface Library

How to use a library

Load a library;
Get ILibrary;
Get ICotaskConstructor using getCotaskConstructor;
Launch a Task with startTask;
Declare the operating modes of the necessary pins with:
- createInputPin
- createOutputPin
- createAnalogPin
- createPulseCounterPin
- createPwmPin
Switch the task in Run mode with run;
Work with the received interfaces (IInputPin, IOutputPin, etc.).

IInputPin

interface IInputPin : InterfaceContract.IInterface {Interop.PinState getState();
}

getState gets the current state of the pin (changes no more than once every 5ms).

IOutputPin

interface IOutputPin : InterfaceContract.IInterface {void setState(Interop.PinState state);
Interop.PinState getState();
}

getState gets the last state modified with setState (a request to the device is not sent).
setState sends a request to the device to change the state of the pin. Throws an exception if the request could not be sent.

IAnalogPin

interface IAnalogPin : InterfaceContract.IInterface {float getValue();
}

getValue gets the current pin voltage in volts.

IPulseCounterPin

interface IPulseCounterPin : InterfaceContract.IInterface {ushort getValue();
}

getValue returns the number of pulses for the last period.

IPwmPin

interface IPwmPin : InterfaceContract.IInterface {void setDuty(float value);
float getDuty();
uint getFrequency();
}

setDuty sends the request, whether the duty cycle was changed, to the device. If the request failed, an exception will be thrown.
getDuty returns the current duty cycle of the PWM signal without requesting the device.
getFrequency returns the current frequency of the PWM signal.

The higher frequency the more grades duty will have. Here is the list of the recommended frequencies:

20
100
500
1000
2000
5000
10000

To find out the actual frequency and duty, use getFrequency and getDuty.

Before the task enters Run state, all methods of these interfaces will have default values.

ICotask

interface ICotask : DeviceNetwork.ICotask {IInputPin createInputPin(Interop.Pins pin);
IOutputPin createOutputPin(Interop.Pins pin, Interop.PinState initialState);
IAnalogPin createAnalogPin(Interop.Pins pin, uint refreshIntervalMs);
IPulseCounterPin createPulseCounterPin(Interop.Pins pin, uint refreshIntervalMs);
IPwmPin createPwmPin(Interop.Pins pin, uint frequency, float initialDuty);
void run();
}

ICotaskMethods for creating pins from an initialization table only. The table will be sent to the device via the run method.

The task is in Init state right after being launched. In this state only methods for creating pins work.

createInputPin creates a pin in input mode.
createOutputPin creates a pin in output mode. It is necessary to pass the state that the pin will take immediately after initialization (initialState).
createAnalogPin creates a pin in analog input mode.
- refreshIntervalMs - time (in milliseconds) of the value update. Set the value in [1..65535] interval. See Constants
createPulseCounterPin creates a pin in pulse counter mode.
- refreshIntervalMs - time (in milliseconds) of the update interval. It should be within the interval [1..125], see Constants
Currently, the system supports only the same update interval for the two pins in pulse counter mode..
createPwmPin creates a pin in PWM output mode.
- frequency - signal frequency in Hz within the [20..10000] interval.
- initialDuty - the duty of the PWM signal right after initialization within the [0;1] interval.
All the PWM pins should have the same frequency.

Run

run sends the initialization table to the device and waits for confirmation. The Task then enters Run mode. After exiting the method, the current states of all pins in input and analog input modes will be obtained, as well as the initial states of all pins in output mode will be set.

After switching to Run mode, you can use the necessary methods from the previously obtained interfaces (IInputPin, IOutputPin, etc.).

When the Task stops, all pins are de-initialized and enter a high-impedance state (Hi-Z).

Reasons of exceptions for methods for creating pins

The run method has already been called.
The specified pin is already in use.
The specified pin does not support the required mode.
Refresh interval is not in the valid range (see Constants).
The maximum number of this type of pin has already been created.
Different refresh interval for pins in pulse counter mode.

Antilatency Hardware Extension Interface LibraryBehaviour.Initialize("Title")