mirror of
https://github.com/wpilibsuite/allwpilib
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61 lines
1.8 KiB
C
61 lines
1.8 KiB
C
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/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef COMPRESSOR_H_
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#define COMPRESSOR_H_
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#define COMPRESSOR_PRIORITY 90
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#include "SensorBase.h"
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#include "Relay.h"
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#include "Task.h"
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#include "LiveWindow/LiveWindowSendable.h"
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class DigitalInput;
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/**
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* Compressor object.
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* The Compressor object is designed to handle the operation of the compressor, pressure sensor and
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* relay for a FIRST robot pneumatics system. The Compressor object starts a task which runs in the
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* backround and periodically polls the pressure sensor and operates the relay that controls the
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* compressor.
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*/
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class Compressor: public SensorBase, public LiveWindowSendable
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{
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public:
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Compressor(uint32_t pressureSwitchChannel, uint32_t compressorRelayChannel);
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Compressor(uint8_t pressureSwitchModuleNumber, uint32_t pressureSwitchChannel,
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uint8_t compresssorRelayModuleNumber, uint32_t compressorRelayChannel);
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~Compressor();
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void Start();
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void Stop();
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bool Enabled();
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uint32_t GetPressureSwitchValue();
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void SetRelayValue(Relay::Value relayValue);
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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private:
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void InitCompressor(uint8_t pressureSwitchModuleNumber, uint32_t pressureSwitchChannel,
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uint8_t compresssorRelayModuleNumber, uint32_t compressorRelayChannel);
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DigitalInput *m_pressureSwitch;
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Relay *m_relay;
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bool m_enabled;
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Task m_task;
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ITable *m_table;
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};
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#endif
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