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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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52
wpilibc/src/main/native/include/frc/DoubleSolenoid.h
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@@ -4,9 +4,11 @@
#pragma once
#include <memory>
#include <hal/Types.h>
#include "frc/SolenoidBase.h"
#include "frc/PneumaticsBase.h"
#include "frc/smartdashboard/Sendable.h"
#include "frc/smartdashboard/SendableHelper.h"
@@ -21,30 +23,16 @@ class SendableBuilder;
* The DoubleSolenoid class is typically used for pneumatics solenoids that
* have two positions controlled by two separate channels.
*/
class DoubleSolenoid : public SolenoidBase,
public Sendable,
public SendableHelper<DoubleSolenoid> {
class DoubleSolenoid : public Sendable, public SendableHelper<DoubleSolenoid> {
public:
enum Value { kOff, kForward, kReverse };
/**
* Constructor.
*
* Uses the default PCM ID of 0.
*
* @param forwardChannel The forward channel number on the PCM (0..7).
* @param reverseChannel The reverse channel number on the PCM (0..7).
*/
explicit DoubleSolenoid(int forwardChannel, int reverseChannel);
/**
* Constructor.
*
* @param moduleNumber The CAN ID of the PCM.
* @param forwardChannel The forward channel on the PCM to control (0..7).
* @param reverseChannel The reverse channel on the PCM to control (0..7).
*/
DoubleSolenoid(int moduleNumber, int forwardChannel, int reverseChannel);
DoubleSolenoid(PneumaticsBase& module, int forwardChannel,
int reverseChannel);
DoubleSolenoid(PneumaticsBase* module, int forwardChannel,
int reverseChannel);
DoubleSolenoid(std::shared_ptr<PneumaticsBase> module, int forwardChannel,
int reverseChannel);
~DoubleSolenoid() override;
@@ -89,26 +77,26 @@ class DoubleSolenoid : public SolenoidBase,
int GetRevChannel() const;
/**
* Check if the forward solenoid is blacklisted.
* Check if the forward solenoid is Disabled.
*
* If a solenoid is shorted, it is added to the blacklist and disabled until
* power cycle, or until faults are cleared.
* If a solenoid is shorted, it is added to the DisabledList and disabled
* until power cycle, or until faults are cleared.
*
* @see ClearAllPCMStickyFaults()
* @return If solenoid is disabled due to short.
*/
bool IsFwdSolenoidBlackListed() const;
bool IsFwdSolenoidDisabled() const;
/**
* Check if the reverse solenoid is blacklisted.
* Check if the reverse solenoid is Disabled.
*
* If a solenoid is shorted, it is added to the blacklist and disabled until
* power cycle, or until faults are cleared.
* If a solenoid is shorted, it is added to the DisabledList and disabled
* until power cycle, or until faults are cleared.
*
* @see ClearAllPCMStickyFaults()
* @return If solenoid is disabled due to short.
*/
bool IsRevSolenoidBlackListed() const;
bool IsRevSolenoidDisabled() const;
void InitSendable(SendableBuilder& builder) override;
@@ -117,8 +105,8 @@ class DoubleSolenoid : public SolenoidBase,
int m_reverseChannel; // The reverse channel on the module to control.
int m_forwardMask; // The mask for the forward channel.
int m_reverseMask; // The mask for the reverse channel.
hal::Handle<HAL_SolenoidHandle> m_forwardHandle;
hal::Handle<HAL_SolenoidHandle> m_reverseHandle;
int m_mask;
std::shared_ptr<PneumaticsBase> m_module;
};
} // namespace frc