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[hal] Add a unified PCM object (#3331)
This commit is contained in:
Thad House
@@ -1,185 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <hal/Types.h>
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#include "frc/SensorUtil.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SendableBuilder;
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/**
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* Class for operating a compressor connected to a %PCM (Pneumatic Control
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* Module).
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*
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* The PCM will automatically run in closed loop mode by default whenever a
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* Solenoid object is created. For most cases, a Compressor object does not need
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* to be instantiated or used in a robot program. This class is only required in
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* cases where the robot program needs a more detailed status of the compressor
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* or to enable/disable closed loop control.
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*
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* Note: you cannot operate the compressor directly from this class as doing so
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* would circumvent the safety provided by using the pressure switch and closed
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* loop control. You can only turn off closed loop control, thereby stopping
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* the compressor from operating.
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*/
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class Compressor : public Sendable, public SendableHelper<Compressor> {
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public:
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/**
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* Constructor. The default PCM ID is 0.
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*
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* @param module The PCM ID to use (0-62)
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*/
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explicit Compressor(int pcmID = SensorUtil::GetDefaultSolenoidModule());
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~Compressor() override = default;
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Compressor(Compressor&&) = default;
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Compressor& operator=(Compressor&&) = default;
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/**
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* Starts closed-loop control. Note that closed loop control is enabled by
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* default.
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*/
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void Start();
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/**
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* Stops closed-loop control. Note that closed loop control is enabled by
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* default.
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*/
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void Stop();
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/**
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* Check if compressor output is active.
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*
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* @return true if the compressor is on
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*/
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bool Enabled() const;
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/**
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* Check if the pressure switch is triggered.
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*
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* @return true if pressure is low
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*/
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bool GetPressureSwitchValue() const;
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/**
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* Query how much current the compressor is drawing.
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*
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* @return The current through the compressor, in amps
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*/
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double GetCompressorCurrent() const;
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/**
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* Enables or disables automatically turning the compressor on when the
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* pressure is low.
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*
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* @param on Set to true to enable closed loop control of the compressor.
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* False to disable.
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*/
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void SetClosedLoopControl(bool on);
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/**
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* Returns true if the compressor will automatically turn on when the
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* pressure is low.
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*
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* @return True if closed loop control of the compressor is enabled. False if
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* disabled.
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*/
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bool GetClosedLoopControl() const;
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/**
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* Query if the compressor output has been disabled due to high current draw.
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*
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* @return true if PCM is in fault state : Compressor Drive is
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* disabled due to compressor current being too high.
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*/
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bool GetCompressorCurrentTooHighFault() const;
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/**
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* Query if the compressor output has been disabled due to high current draw
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* (sticky).
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*
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* A sticky fault will not clear on device reboot, it must be cleared through
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* code or the webdash.
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*
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* @return true if PCM sticky fault is set : Compressor Drive is
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* disabled due to compressor current being too high.
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*/
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bool GetCompressorCurrentTooHighStickyFault() const;
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/**
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* Query if the compressor output has been disabled due to a short circuit
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* (sticky).
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*
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* A sticky fault will not clear on device reboot, it must be cleared through
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* code or the webdash.
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*
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* @return true if PCM sticky fault is set : Compressor output
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* appears to be shorted.
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*/
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bool GetCompressorShortedStickyFault() const;
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/**
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* Query if the compressor output has been disabled due to a short circuit.
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*
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* @return true if PCM is in fault state : Compressor output
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* appears to be shorted.
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*/
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bool GetCompressorShortedFault() const;
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/**
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* Query if the compressor output does not appear to be wired (sticky).
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*
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* A sticky fault will not clear on device reboot, it must be cleared through
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* code or the webdash.
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*
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* @return true if PCM sticky fault is set : Compressor does not
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* appear to be wired, i.e. compressor is not drawing enough current.
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*/
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bool GetCompressorNotConnectedStickyFault() const;
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/**
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* Query if the compressor output does not appear to be wired.
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*
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* @return true if PCM is in fault state : Compressor does not
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* appear to be wired, i.e. compressor is not drawing enough current.
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*/
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bool GetCompressorNotConnectedFault() const;
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/**
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* Clear ALL sticky faults inside PCM that Compressor is wired to.
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*
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* If a sticky fault is set, then it will be persistently cleared. Compressor
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* drive maybe momentarily disable while flags are being cleared. Care should
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* be taken to not call this too frequently, otherwise normal compressor
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* functionality may be prevented.
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*
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* If no sticky faults are set then this call will have no effect.
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*/
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void ClearAllPCMStickyFaults();
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/**
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* Gets module number (CAN ID).
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*
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* @return Module number
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*/
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int GetModule() const;
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void InitSendable(SendableBuilder& builder) override;
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protected:
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hal::Handle<HAL_CompressorHandle> m_compressorHandle;
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private:
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void SetCompressor(bool on);
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int m_module;
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};
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} // namespace frc
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