cfnet:cfheader:automating_io_modules:index

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====== Automating IO Modules ======

===== Obtaining an Instance of a CFHEADER Module =====

The root of the API is the static [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.Instances.html#ComfileTech_Cfnet_Cfheader_Cfheader_Instances|Cfheader.Instances]] collection.  There can be as many as 8 CFHEADER modules connected to a single USB host.

<code csharp>
// Detect all connected CFHEADER modules.
foreach(var cfheader in Cfheader.Instances)
{
    try
    {
        cfheader.Open();
        Console.WriteLine($"CFHEADER at address {cfheader.Address} was found connected to this host.");
    }
    catch
    {
        Console.WriteLine($"CFHEADER at address {cfheader.Address} was not found connected to this host.");
    }
}
</code>

The [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.Instances.html#ComfileTech_Cfnet_Cfheader_Cfheader_Instances|Cfheader.Instances]] collection is ordered by address, so to obtain a [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.html|Cfheader]] instance at a specific address, simply use the address as an index.

<code csharp>
var cfheaderAtAddress0 = Cfheader.Instances[0];
var CfheaderAtAddress1 = Cfheader.Instances[1];
// etc...
</code>

Or, use [[https://learn.microsoft.com/en-us/dotnet/csharp/linq/|Linq]] syntax to find instances by the [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.Address.html|Cfheader.Address]] property.

<code csharp>
var evenCfheaderInstances = Cfheader.Instances.Where(i => (i.Address % 2) == 0);
var oddCfheaderInstances = Cfheader.Instances.Where(i => (i.Address % 2) == 1);
</code>

===== USB Communication =====

Before communicating with a ''Cfheader'' instance over USB, it must first be [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.Open.html#ComfileTech_Cfnet_Cfheader_Cfheader_Open|Open]]ed for USB communication.   

Once opened, USB communication with the CFHEADER module, and consequently I²C communication with the IO modules, is performed using the [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.Sync.html|Sync]] method.  The [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.Sync.html|Sync]] method effectively writes the current state of the output modules and reads the current state of the input modules.  See [[cfnet:cfheader:mode_of_operation:index|mode of operation]] for more information. 

To end communication with a ''Cfheader'' instance, call the [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.Close.html|Close]] method.

<code csharp>
// Get the CFHEADER module at address 0
var cfheader0 = Cfheader.Instances[0];

// Try to open USB communication with the CFHEADER module.
try
{
    cfheader0.Open();
}
catch(Exception ex)
{
    Console.Error.WriteLine($"Could not open communication with CFHEADER module at address {cfheader0.Address}.");
    Environment.Exit(1);
}

// Try communicating over USB with the CFHEADER module
try
{
    while(true)
    {
        cfheader0.Sync();
    }
}
catch(Exception ex)
{
    Console.Error.WriteLine($"Communication with CFHEADER module at address {cfheader0.Address} failed.");
    Environment.Exit(1);
}

// Close USB communication with the CFHEADER module.
cfheader0.Close();
</code>

===== Multiple CFHEADER Modules =====

Up to 8 CFHEADER modules can be connected to a single USB host.  It is therefore, possible to automate multiple arrays of IO modules simultaneously, either in separate threads or separate processes.  The example below demonstrates running 3 CFHEADER arrays simultaneously, each in their own thread.

<code csharp>
using ComfileTech.Cfnet.Cfheader;

// Get the CFHEADER instances
var cfheader0 = Cfheader.Instances[0];
var cfheader1 = Cfheader.Instances[1];
var cfheader2 = Cfheader.Instances[2];

// Open USB communication for each CFHEADER instance
cfheader0.Open();
cfheader1.Open();
cfheader2.Open();

// Create a thread for each CFHEADER instance
var thread0 = new Thread(() => Demo(cfheader0));
var thread1 = new Thread(() => Demo(cfheader1));
var thread2 = new Thread(() => Demo(cfheader2));

// Start each thread
thread0.Start();
thread1.Start();
thread2.Start();

// Wait for each thread to finish
thread0.Join();
thread1.Join();
thread2.Join();

void Demo(Cfheader cfheader)
{
    // Get the digital output module
    var cfdo_16n0 = cfheader.DigitalOutputModules[0];

    // Initialize all channels to 0
    cfdo_16n0.State = 0x00;

    while (true)
    {
        foreach (var channel in cfdo_16n0.Channels)
        {
            // Toggle the channel on
            channel.State = !channel.State;
            channel.Module.Header.Sync();

            // Delay for 50ms
            Thread.Sleep(50);

            // Toggle the channel off
            channel.State = !channel.State;
            channel.Module.Header.Sync();
        }
    }
}
</code>

{{ :cfnet:cfheader:automating_io_modules:multiple_cfheaders.mp4?900x506 }}

===== Obtaining an Instance of an IO Module =====

An instance of each IO module connected to a ''Cfheader'' can be obtained though the ''Cfheader'''s [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.AnalogInputModules.html#ComfileTech_Cfnet_Cfheader_Cfheader_AnalogInputModules|AnalogInputModules]], [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.AnalogOutputModules.html|AnalogOutputModules]], [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.DigitalInputModules.html|DigitalInputModules]], and [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.DigitalOutputModules.html|DigitalOutputModules]] collections.

The IO module collections are also ordered by address, so an instance can be obtained by simply indexing the collection by address.

<code csharp>
var cfheader0 = Cfheader.Instances[0];

var analogInputModuleAtAddress0 = cfheader0.AnalogInputModules[0];
var analogOutputModuleAtAddress3 = cfheader0.AnalogOutputModules[3];
var digitalInputModuleAtAddress7 = cfheader0.DigitalInputModules[7];
var digitalOutputModuleAtAddress4 = cfheader0.DigitalOutputModules[4];
</code>

All IO modules have the following members:
    * [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.IIOModule.Header.html#ComfileTech_Cfnet_Cfheader_IIOModule_Header|Header]] property to identify the CFHEADER module that the IO module is associated with.
    * [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.IIOModule.Address.html|Address]] property to uniquely identify the module from other modules of the same type.
    * [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.IIOModule.I2cStatus.html|I2cStatus]] property to indicate whether the last I²C communication with the module succeeded or not.  This an also be used to determine if a specific module is connected to a specific CFHEADER module.
    * [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.IIOModule.AcknowledgeI2cFailure.html|AcknowledgeI2cFailure]] to acknowledge an I²C communication failure and attempt I2c communication again on the next call to [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.Sync.html#ComfileTech_Cfnet_Cfheader_Cfheader_Sync|Sync]]
    * [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.IIOModule.I2cFailed.html|I2cFailed]] event to notify the application any time I²C communication with an IO module fails.  Such events are especially useful in concert with [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.BackgroundSync.html|BackgroundSync]].

For more information on how to utilize the ''I2cStatus'', ''AcknowledgeI2cFailure'', and ''I2cFailed'' members, see the error handling explanations in the [[cfnet:cfheader:mode_of_operation:index|mode of operation]] documentation.
===== Detecting Connected IO Modules =====

Using the properties listed above, an algorithm to detect connected modules can be created as illustrated below.

<code csharp>
// Get the CFHEADER module at address 0
var cfheader0 = Cfheader.Instances[0];

// Open USB communcation with the CFHEADER module
cfheader0.Open();

// Get all possible IO module instances
var allIOModules = ((IEnumerable<IIOModule>)cfheader0.AnalogInputModules)
    .Concat(cfheader0.AnalogOutputModules)
    .Concat(cfheader0.DigitalInputModules)
    .Concat(cfheader0.DigitalOutputModules);

// Reset the IO module's I²C status so I²C communication will be attempted again on the next call to `Sync`.
foreach(var ioModule in allIOModules)
{
    ioModule.AcknowledgeI2cFailure();
}

// Test i2c communication for each IO module
cfheader0.Sync();

// Identify each IO module whose I²C communication succeeded.
foreach(var ioModule in allIOModules)
{
    if (ioModule.I2cStatus == I2cResult.Success)
    {
        Console.WriteLine($"Found {ioModule.GetType().Name} at address {ioModule.Address}");
    }
}

// Close USB communication with the CFHEADER module
cfheader0.Close();
</code>

===== IO Module Channels =====

Each IO module may have a collection of [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.IIOChannel.html|channel]]s.  The collection of channels will be ordered by the channel's [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.IIOChannel.Address.html#ComfileTech_Cfnet_Cfheader_IIOChannel_Address|Address]], so an instance of the channel can be obtained by using the address as an index.

Each channel, being its own object, makes is very convenient to write self-documented code, by assigning channels to descriptive variable names.

<code csharp>
var cfheader0 = Cfheader.Instances[0];
var digitalOutputModule0 = cfheader.DigitalOutputModules[0];

var coolingFan = digitalOutputModule0.Channels[0];
var flowSelenoid = digitalOutputModule0.Channels[1];
var alarmIndicator = digitalOutputModule0.Channels[2];
</code>

Given an instance of a channel, the IO module that it belongs to can be always be obtained through the channel's [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.IIOChannel.Module.html|Module]] property.
===== AnalogInputModule =====

The [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.html|AnalogInputModule]] class is used to automate a [[modularfaduino:cfadca4l|CFADC-A4L]] module.  The [[modularfaduino:cfadca4l|CFADC-A4L]] has 4 [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channels.html#ComfileTech_Cfnet_Cfheader_AnalogInputModule_Channels|channels]], but only one [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.html|channel]] can perform an analog to digital conversion at a time.  

Each channel, on its turn, can perform multiple conversions, according to its [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.NumberOfConversions.html#ComfileTech_Cfnet_Cfheader_AnalogInputModule_Channel_NumberOfConversions|NumberOfConversions]] property.  The active channel will perform all of its conversions before advancing to the next channel.  Each conversion will be performed independent of the I²C communication, but the active channel will only advance when an I²C communication is performed.

If a channel is not in use, set its [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.NumberOfConversions.html#ComfileTech_Cfnet_Cfheader_AnalogInputModule_Channel_NumberOfConversions|NumberOfConversions]] property to 0 so that it will be skipped when advancing to the next channel.  When [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.NumberOfConversions.html#ComfileTech_Cfnet_Cfheader_AnalogInputModule_Channel_NumberOfConversions|NumberOfConversions]] is 0, the [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.IsEnabled.html#ComfileTech_Cfnet_Cfheader_AnalogInputModule_Channel_IsEnabled|IsEnabled]] property will return ''false''.  Otherwise, it will return ''true''.

<code csharp>
var cfheader0 = Cfheader.Instances[0];
var analogInputModule0 = cfheader.AnalogInputModules[0];

// Channel 0 will perform 2 conversions first,
// then Channel 1 will perform 2 conversions,
// channels 2 and 3 will be immediately skipped,
// then back to channel 0.
analogInputModule0.Channels[0].NumberOfConversions = 2;
analogInputModule0.Channels[1].NumberOfConversions = 2;
analogInputModule0.Channels[2].NumberOfConversions = 0;
analogInputModule0.Channels[3].NumberOfConversions = 0;
</code>

A channel's state can be read as a raw digital value, [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.RawValue.html|RawValue]], a [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.Voltage.html|Voltage]], or a [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.Current.html|Current]].  [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.Voltage.html|Voltage]] and [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.Current.html|Current]] properties are calculated from the [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.RawValue.html|RawValue]] property. Calibration may be necessary.

<code csharp>
var cfheader0 = Cfheader.Instances[0];
var analogInputModule0 = cfheader0.AnalogInputModules[0];

cfheader0.Open();

while (true)
{
    cfheader0.Sync();

    foreach (var c in analogInputModule0.Channels)
    {
        Console.WriteLine($"Channel {c.Address,2}: {c.RawValue,8} {c.Voltage,8:F2}V {c.Current,8:F2}A");
    }
}
</code>

Every time all [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.NumberOfConversions.html#ComfileTech_Cfnet_Cfheader_AnalogInputModule_Channel_NumberOfConversions|NumberOfConversions]] of a channel are completed, and read via [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.Sync.html#ComfileTech_Cfnet_Cfheader_Cfheader_Sync|Sync]], the [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.ConversionCompleted.html|ConversionCompleted]] event will be fired.  This event will be fired regardless of whether the channel's state (i.e. [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.RawValue.html|RawValue]]) changes.  Use the [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.RawValueChanged.html|RawValueChanged]] event to be notified when the [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.RawValue.html|RawValue]], and consequently the [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.Voltage.html|Voltage]] and [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogInputModule.Channel.Current.html|Current]] properties, change.

<code csharp>
var cfheader0 = Cfheader.Instances[0];
var analogInputModule0 = cfheader0.AnalogInputModules[0];

foreach(var channel in analogInputModule0.Channels)
{
    channel.ConversionCompleted += c =>
    {
        Console.WriteLine($"Channel {c.Address,2}: {c.RawValue,8} {c.Voltage,8:F2}V {c.Current,8:F2}A");
    };
}

cfheader0.Open();

while (true)
{
    cfheader0.Sync();
}
</code>

===== AnalogOutputModule =====

The [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogOutputModule.html|AnalogOutputModule]] class is used to automate the [[modularfaduino:cfdac2v|CFDAC-2V]] CFNET module.  It has 2 [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogOutputModule.Channels.html#ComfileTech_Cfnet_Cfheader_AnalogOutputModule_Channels|channels]], each of which can be independently assigned an analog voltage output.

The voltage of each [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogOutputModule.Channel.html|channel]] can be set as a raw digital value, via the [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogOutputModule.Channel.RawValue.html#ComfileTech_Cfnet_Cfheader_AnalogOutputModule_Channel_RawValue|RawValue]] property, or as an explicit voltage via the [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.AnalogOutputModule.Channel.Voltage.html|Voltage]] property.

<code csharp>
var cfheader0 = Cfheader.Instances[0];
var analogOutputModule0 = cfheader0.AnalogOutputModules[0];

cfheader0.Open();

// Use a stopwatch for keeping time
var stopwatch = Stopwatch.StartNew();

while (true)
{
    // Get time in seconds
    var t = stopwatch.Elapsed.TotalSeconds;

    // Iterate through analog output channel
    foreach (var channel in analogOutputModule0.Channels)
    {
        // Set the channel's voltage as a sine function of `t`
        channel.Voltage = (float)(5.0 * Math.Sin(t * 2 * Math.PI * (channel.Address + 1) / 4) + 5.0);
    }

    cfheader0.Sync();
}
</code>

{{ :cfnet:cfheader:automating_io_modules:cfdac_sine.mp4?900x620 |}}
===== DigitalInputModule =====

The [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.DigitalInputModule.html|DigitalInputModule]] class is used to automate the [[modularfaduino:cfdi16b|CFDI-16B]] CFNET module.  It has 16 [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.DigitalInputModule.Channels.html#ComfileTech_Cfnet_Cfheader_DigitalInputModule_Channels|channels]], each of which can be independently read.

After a successful [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.Sync.html#ComfileTech_Cfnet_Cfheader_Cfheader_Sync|Sync]], each [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.DigitalInputModule.Channel.html|channel]]'s state can be examined by reading its [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.DigitalInputModule.Channel.State.html#ComfileTech_Cfnet_Cfheader_DigitalInputModule_Channel_State|State]] property.  The state of all channels can also be collectively read through the module's [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.DigitalInputModule.State.html#ComfileTech_Cfnet_Cfheader_DigitalInputModule_State|State]] property.

<code csharp>
var cfheader0 = Cfheader.Instances[0];
var digitalInputModule0 = cfheader0.DigitalInputModules[0];

cfheader0.Open();

// Clear console
Console.CursorVisible = false;
Console.Clear();

while(true)
{
    // Get the latest state
    cfheader0.Sync();

    // Overwrite last printed results
    Console.SetCursorPosition(0, 0);

    // Print label
    Console.ForegroundColor = ConsoleColor.White;
    Console.Write("Digital Inputs:   ");

    // Print the state of each channel
    foreach (var channel in digitalInputModule0.Channels)
    {
        Console.ForegroundColor = channel.State ? ConsoleColor.Green : ConsoleColor.Red;
        var state = channel.State ? "ON" : "OFF";
        Console.Write($"{state,-6}");
    }
}
</code>

{{ :cfnet:cfheader:automating_io_modules:cfdi_demo.mp4?900x500 }}

The thread that calls [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.Cfheader.Sync.html#ComfileTech_Cfnet_Cfheader_Cfheader_Sync|Sync]] will notify an application of any changes to a channel's state via the channel's [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.DigitalInputModule.Channel.StateChanged.html|StateChanged]] event and the module's [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.DigitalInputModule.StateChanged.html|StateChanged]] event.

<code csharp>
var cfheader0 = Cfheader.Instances[0];
var digitalInputModule0 = cfheader0.DigitalInputModules[0];

foreach (var channel in digitalInputModule0.Channels)
{
    channel.StateChanged += c =>
    {
        var state = channel.State ? "ON" : "OFF";
        Console.WriteLine($"Channel {c.Address} changed: {state}");
    };
}

cfheader0.Open();

while (true)
{
    cfheader0.Sync();
}
</code>
===== DigitalOutputModule =====

The [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.DigitalOutputModule.html|DigitalOutputModule]] class is used to automate the [[modularfaduino:cfdo16n|CFDO-16N]] or [[modularfaduino:cfdo8r|CFDO-8R]] CFNET modules.  It has 16 [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.DigitalOutputModule.Channels.html#ComfileTech_Cfnet_Cfheader_DigitalOutputModule_Channels|channels]], each of which can be independently assigned a digital output.  Only the first 8 channels are applicable to the [[modularfaduino:cfdo8r|CFDO-8R]].

The state of each [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.DigitalOutputModule.Channel.html|channel]] can be individually assigned through the channel's [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.DigitalOutputModule.Channel.State.html#ComfileTech_Cfnet_Cfheader_DigitalOutputModule_Channel_State|State]] property or collectively through the module's [[https://api.comfiletech.com/csharp/api/ComfileTech.Cfnet.Cfheader.DigitalOutputModule.State.html#ComfileTech_Cfnet_Cfheader_DigitalOutputModule_State|State]] property.

<code csharp>
var cfheader0 = Cfheader.Instances[0];
var digitalOutputModule0 = cfheader0.DigitalOutputModules[0];

cfheader0.Open();

while (true)
{
    // Blink each output in increasing order
    foreach (var channel in digitalOutputModule0.Channels)
    {
        channel.Blink();
    }

    // Blink each output in decreasing order
    foreach (var channel in digitalOutputModule0.Channels.Reverse())
    {
        channel.Blink();
    }
}

static class Extensions
{
    public static void Blink(this DigitalOutputModule.Channel channel)
    {
        // Toggle the channel's state
        channel.Toggle();

        // Delay for 50ms
        Thread.Sleep(50);

        // Toggle the channel's state again
        channel.Toggle();
    }

    public static void Toggle(this DigitalOutputModule.Channel channel)
    {
        // Toggle state
        channel.State = !channel.State;

        // Write the state to the module
        channel.Module.Header.Sync();
    }
}
</code>

{{ :cfnet:cfheader:automating_io_modules:kitt.mp4?900x506 }}

[[..:index|CFHEADER - USB Interface to CFNET IO Modules]]
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