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

wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp

@@ -7,7 +7,8 @@
 using namespace HatchConstants;
 
 HatchSubsystem::HatchSubsystem()
-    : m_hatchSolenoid{kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
+    : m_hatchSolenoid{m_pneumaticsModule, kHatchSolenoidPorts[0],
+                      kHatchSolenoidPorts[1]} {}
 
 void HatchSubsystem::GrabHatch() {
   m_hatchSolenoid.Set(frc::DoubleSolenoid::kForward);

wpilibcExamples/src/main/cpp/examples/HatchbotInlined/include/subsystems/HatchSubsystem.h

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <frc/DoubleSolenoid.h>
+#include <frc/PneumaticsControlModule.h>
 #include <frc2/command/SubsystemBase.h>
 
 #include "Constants.h"
@@ -28,5 +29,6 @@ class HatchSubsystem : public frc2::SubsystemBase {
  private:
   // Components (e.g. motor controllers and sensors) should generally be
   // declared private and exposed only through public methods.
+  frc::PneumaticsControlModule m_pneumaticsModule;
   frc::DoubleSolenoid m_hatchSolenoid;
 };

wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp

@@ -7,7 +7,8 @@
 using namespace HatchConstants;
 
 HatchSubsystem::HatchSubsystem()
-    : m_hatchSolenoid{kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
+    : m_hatchSolenoid{m_pneumaticsModule, kHatchSolenoidPorts[0],
+                      kHatchSolenoidPorts[1]} {}
 
 void HatchSubsystem::GrabHatch() {
   m_hatchSolenoid.Set(frc::DoubleSolenoid::kForward);

wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/include/subsystems/HatchSubsystem.h

@@ -5,6 +5,7 @@
 #pragma once
 
 #include <frc/DoubleSolenoid.h>
+#include <frc/PneumaticsControlModule.h>
 #include <frc2/command/SubsystemBase.h>
 
 #include "Constants.h"
@@ -28,5 +29,6 @@ class HatchSubsystem : public frc2::SubsystemBase {
  private:
   // Components (e.g. motor controllers and sensors) should generally be
   // declared private and exposed only through public methods.
+  frc::PneumaticsControlModule m_pneumaticsModule;
   frc::DoubleSolenoid m_hatchSolenoid;
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/Robot.cpp

@@ -10,6 +10,8 @@
 #include <frc/livewindow/LiveWindow.h>
 #include <frc/smartdashboard/SmartDashboard.h>
 
+#include "PneumaticsModule.h"
+
 DriveTrain Robot::drivetrain;
 Pivot Robot::pivot;
 Collector Robot::collector;
@@ -81,6 +83,11 @@ void Robot::Log() {
                                  drivetrain.GetRightEncoder().GetDistance());
 }
 
+frc::PneumaticsControlModule* pac::GetPneumatics() {
+  static frc::PneumaticsControlModule pcm;
+  return &pcm;
+}
+
 #ifndef RUNNING_FRC_TESTS
 int main() {
   return frc::StartRobot<Robot>();

wpilibcExamples/src/main/cpp/examples/PacGoat/cpp/subsystems/Pneumatics.cpp

@@ -6,6 +6,8 @@
 
 #include <frc/smartdashboard/SmartDashboard.h>
 
+#include "PneumaticsModule.h"
+
 Pneumatics::Pneumatics() : frc::Subsystem("Pneumatics") {
   AddChild("Pressure Sensor", m_pressureSensor);
 }
@@ -16,7 +18,7 @@ void Pneumatics::InitDefaultCommand() {
 
 void Pneumatics::Start() {
 #ifndef SIMULATION
-  m_compressor.Start();
+  pac::GetPneumatics()->SetClosedLoopControl(true);
 #endif
 }
 

wpilibcExamples/src/main/cpp/examples/PacGoat/include/PneumaticsModule.h

@@ -0,0 +1,11 @@
+// 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.
+
+#pragma once
+
+#include <frc/PneumaticsControlModule.h>
+
+namespace pac {
+frc::PneumaticsControlModule* GetPneumatics();
+}  // namespace pac

wpilibcExamples/src/main/cpp/examples/PacGoat/include/Robot.h

@@ -4,6 +4,7 @@
 
 #pragma once
 
+#include <frc/PneumaticsControlModule.h>
 #include <frc/TimedRobot.h>
 #include <frc/commands/Command.h>
 #include <frc/smartdashboard/SendableChooser.h>

wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Collector.h

@@ -9,6 +9,8 @@
 #include <frc/commands/Subsystem.h>
 #include <frc/motorcontrol/PWMSparkMax.h>
 
+#include "PneumaticsModule.h"
+
 /**
  * The Collector subsystem has one motor for the rollers, a limit switch for
  * ball
@@ -68,6 +70,6 @@ class Collector : public frc::Subsystem {
   // Subsystem devices
   frc::PWMSparkMax m_rollerMotor{6};
   frc::DigitalInput m_ballDetector{10};
-  frc::Solenoid m_piston{1};
+  frc::Solenoid m_piston{pac::GetPneumatics(), 1};
   frc::DigitalInput m_openDetector{6};
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Pneumatics.h

@@ -5,7 +5,6 @@
 #pragma once
 
 #include <frc/AnalogInput.h>
-#include <frc/Compressor.h>
 #include <frc/commands/Subsystem.h>
 
 /**
@@ -42,9 +41,5 @@ class Pneumatics : public frc::Subsystem {
  private:
   frc::AnalogInput m_pressureSensor{3};
 
-#ifndef SIMULATION
-  frc::Compressor m_compressor{1};  // TODO: (1, 14, 1, 8);
-#endif
-
   static constexpr double kMaxPressure = 2.55;
 };

wpilibcExamples/src/main/cpp/examples/PacGoat/include/subsystems/Shooter.h

@@ -9,6 +9,8 @@
 #include <frc/Solenoid.h>
 #include <frc/commands/Subsystem.h>
 
+#include "PneumaticsModule.h"
+
 /**
  * The Shooter subsystem handles shooting. The mechanism for shooting is
  * slightly complicated because it has to pneumatic cylinders for shooting, and
@@ -114,9 +116,9 @@ class Shooter : public frc::Subsystem {
 
  private:
   // Devices
-  frc::DoubleSolenoid m_piston1{3, 4};
-  frc::DoubleSolenoid m_piston2{5, 6};
-  frc::Solenoid m_latchPiston{1, 2};
+  frc::DoubleSolenoid m_piston1{pac::GetPneumatics(), 3, 4};
+  frc::DoubleSolenoid m_piston2{pac::GetPneumatics(), 5, 6};
+  frc::Solenoid m_latchPiston{pac::GetPneumatics(), 2};
   frc::DigitalInput m_piston1ReedSwitchFront{9};
   frc::DigitalInput m_piston1ReedSwitchBack{11};
   frc::DigitalInput m_hotGoalSensor{

wpilibcExamples/src/main/cpp/examples/Solenoid/cpp/Robot.cpp

@@ -4,6 +4,7 @@
 
 #include <frc/DoubleSolenoid.h>
 #include <frc/Joystick.h>
+#include <frc/PneumaticsControlModule.h>
 #include <frc/Solenoid.h>
 #include <frc/TimedRobot.h>
 
@@ -53,11 +54,13 @@ class Robot : public frc::TimedRobot {
  private:
   frc::Joystick m_stick{0};
 
+  frc::PneumaticsControlModule m_pneumaticsModule;
+
   // Solenoid corresponds to a single solenoid.
-  frc::Solenoid m_solenoid{0};
+  frc::Solenoid m_solenoid{m_pneumaticsModule, 0};
 
   // DoubleSolenoid corresponds to a double solenoid.
-  frc::DoubleSolenoid m_doubleSolenoid{1, 2};
+  frc::DoubleSolenoid m_doubleSolenoid{m_pneumaticsModule, 1, 2};
 
   static constexpr int kSolenoidButton = 1;
   static constexpr int kDoubleSolenoidForward = 2;