[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;
 };