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[hal] Add a unified PCM object (#3331)

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This commit is contained in:
Thad House
2021-06-05 22:36:39 -07:00
committed by GitHub
parent dea841103d
commit 0e702eb799
103 changed files with 2643 additions and 5676 deletions
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134
wpilibc/src/main/native/cpp/Compressor.cpp
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/Compressor.h"
#include <hal/Compressor.h>
#include <hal/FRCUsageReporting.h>
#include <hal/Ports.h>
#include <hal/Solenoid.h>
#include "frc/Errors.h"
#include "frc/smartdashboard/SendableBuilder.h"
#include "frc/smartdashboard/SendableRegistry.h"
using namespace frc;
Compressor::Compressor(int pcmID) : m_module(pcmID) {
int32_t status = 0;
m_compressorHandle = HAL_InitializeCompressor(m_module, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
SetClosedLoopControl(true);
HAL_Report(HALUsageReporting::kResourceType_Compressor, pcmID + 1);
SendableRegistry::GetInstance().AddLW(this, "Compressor", pcmID);
}
void Compressor::Start() {
SetClosedLoopControl(true);
}
void Compressor::Stop() {
SetClosedLoopControl(false);
}
bool Compressor::Enabled() const {
int32_t status = 0;
bool value = HAL_GetCompressor(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return value;
}
bool Compressor::GetPressureSwitchValue() const {
int32_t status = 0;
bool value = HAL_GetCompressorPressureSwitch(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return value;
}
double Compressor::GetCompressorCurrent() const {
int32_t status = 0;
double value = HAL_GetCompressorCurrent(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return value;
}
void Compressor::SetClosedLoopControl(bool on) {
int32_t status = 0;
HAL_SetCompressorClosedLoopControl(m_compressorHandle, on, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
}
bool Compressor::GetClosedLoopControl() const {
int32_t status = 0;
bool value = HAL_GetCompressorClosedLoopControl(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return value;
}
bool Compressor::GetCompressorCurrentTooHighFault() const {
int32_t status = 0;
bool value =
HAL_GetCompressorCurrentTooHighFault(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return value;
}
bool Compressor::GetCompressorCurrentTooHighStickyFault() const {
int32_t status = 0;
bool value =
HAL_GetCompressorCurrentTooHighStickyFault(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return value;
}
bool Compressor::GetCompressorShortedStickyFault() const {
int32_t status = 0;
bool value = HAL_GetCompressorShortedStickyFault(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return value;
}
bool Compressor::GetCompressorShortedFault() const {
int32_t status = 0;
bool value = HAL_GetCompressorShortedFault(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return value;
}
bool Compressor::GetCompressorNotConnectedStickyFault() const {
int32_t status = 0;
bool value =
HAL_GetCompressorNotConnectedStickyFault(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return value;
}
bool Compressor::GetCompressorNotConnectedFault() const {
int32_t status = 0;
bool value = HAL_GetCompressorNotConnectedFault(m_compressorHandle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return value;
}
void Compressor::ClearAllPCMStickyFaults() {
int32_t status = 0;
HAL_ClearAllPCMStickyFaults(m_module, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
}
int Compressor::GetModule() const {
return m_module;
}
void Compressor::InitSendable(SendableBuilder& builder) {
builder.SetSmartDashboardType("Compressor");
builder.AddBooleanProperty(
"Closed Loop Control", [=]() { return GetClosedLoopControl(); },
[=](bool value) { SetClosedLoopControl(value); });
builder.AddBooleanProperty(
"Enabled", [=] { return Enabled(); }, nullptr);
builder.AddBooleanProperty(
"Pressure switch", [=]() { return GetPressureSwitchValue(); }, nullptr);
}