allwpilib/hal/lib/athena/Compressor.cpp

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2016. All Rights Reserved.                             */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include "HAL/Compressor.h"

#include <iostream>

#include "ctre/PCM.h"

static const int NUM_MODULE_NUMBERS = 63;
extern PCM* PCM_modules[NUM_MODULE_NUMBERS];
extern void initializePCM(int module);

extern "C" {

void* initializeCompressor(uint8_t module) {
  initializePCM(module);

  return PCM_modules[module];
}

bool checkCompressorModule(uint8_t module) {
  return module < NUM_MODULE_NUMBERS;
}

bool getCompressor(void* pcm_pointer, int32_t* status) {
  PCM* module = (PCM*)pcm_pointer;
  bool value;

  *status = module->GetCompressor(value);

  return value;
}

void setClosedLoopControl(void* pcm_pointer, bool value, int32_t* status) {
  PCM* module = (PCM*)pcm_pointer;

  *status = module->SetClosedLoopControl(value);
}

bool getClosedLoopControl(void* pcm_pointer, int32_t* status) {
  PCM* module = (PCM*)pcm_pointer;
  bool value;

  *status = module->GetClosedLoopControl(value);

  return value;
}

bool getPressureSwitch(void* pcm_pointer, int32_t* status) {
  PCM* module = (PCM*)pcm_pointer;
  bool value;

  *status = module->GetPressure(value);

  return value;
}

float getCompressorCurrent(void* pcm_pointer, int32_t* status) {
  PCM* module = (PCM*)pcm_pointer;
  float value;

  *status = module->GetCompressorCurrent(value);

  return value;
}
bool getCompressorCurrentTooHighFault(void* pcm_pointer, int32_t* status) {
  PCM* module = (PCM*)pcm_pointer;
  bool value;

  *status = module->GetCompressorCurrentTooHighFault(value);

  return value;
}
bool getCompressorCurrentTooHighStickyFault(void* pcm_pointer,
                                            int32_t* status) {
  PCM* module = (PCM*)pcm_pointer;
  bool value;

  *status = module->GetCompressorCurrentTooHighStickyFault(value);

  return value;
}
bool getCompressorShortedStickyFault(void* pcm_pointer, int32_t* status) {
  PCM* module = (PCM*)pcm_pointer;
  bool value;

  *status = module->GetCompressorShortedStickyFault(value);

  return value;
}
bool getCompressorShortedFault(void* pcm_pointer, int32_t* status) {
  PCM* module = (PCM*)pcm_pointer;
  bool value;

  *status = module->GetCompressorShortedFault(value);

  return value;
}
bool getCompressorNotConnectedStickyFault(void* pcm_pointer, int32_t* status) {
  PCM* module = (PCM*)pcm_pointer;
  bool value;

  *status = module->GetCompressorNotConnectedStickyFault(value);

  return value;
}
bool getCompressorNotConnectedFault(void* pcm_pointer, int32_t* status) {
  PCM* module = (PCM*)pcm_pointer;
  bool value;

  *status = module->GetCompressorNotConnectedFault(value);

  return value;
}
void clearAllPCMStickyFaults(void* pcm_pointer, int32_t* status) {
  PCM* module = (PCM*)pcm_pointer;

  *status = module->ClearStickyFaults();
}

}  // extern "C"