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

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbotinlined/subsystems/HatchSubsystem.java

@@ -8,14 +8,17 @@ import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
 import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsControlModule;
 import edu.wpi.first.wpilibj.examples.hatchbotinlined.Constants.HatchConstants;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 /** A hatch mechanism actuated by a single {@link edu.wpi.first.wpilibj.DoubleSolenoid}. */
 public class HatchSubsystem extends SubsystemBase {
+  private final PneumaticsControlModule m_controlModule =
+      new PneumaticsControlModule(HatchConstants.kHatchSolenoidModule);
   private final DoubleSolenoid m_hatchSolenoid =
       new DoubleSolenoid(
-          HatchConstants.kHatchSolenoidModule,
+          m_controlModule,
           HatchConstants.kHatchSolenoidPorts[0],
           HatchConstants.kHatchSolenoidPorts[1]);
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/hatchbottraditional/subsystems/HatchSubsystem.java

@@ -8,14 +8,17 @@ import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kForward;
 import static edu.wpi.first.wpilibj.DoubleSolenoid.Value.kReverse;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsControlModule;
 import edu.wpi.first.wpilibj.examples.hatchbottraditional.Constants.HatchConstants;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 /** A hatch mechanism actuated by a single {@link DoubleSolenoid}. */
 public class HatchSubsystem extends SubsystemBase {
+  private final PneumaticsControlModule m_controlModule =
+      new PneumaticsControlModule(HatchConstants.kHatchSolenoidModule);
   private final DoubleSolenoid m_hatchSolenoid =
       new DoubleSolenoid(
-          HatchConstants.kHatchSolenoidModule,
+          m_controlModule,
           HatchConstants.kHatchSolenoidPorts[0],
           HatchConstants.kHatchSolenoidPorts[1]);
 

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/Robot.java

@@ -4,6 +4,7 @@
 
 package edu.wpi.first.wpilibj.examples.pacgoat;
 
+import edu.wpi.first.wpilibj.PneumaticsControlModule;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
@@ -29,6 +30,8 @@ public class Robot extends TimedRobot {
   Command m_autonomousCommand;
   public static OI oi;
 
+  public static PneumaticsControlModule pneumaticsModule = new PneumaticsControlModule(1);
+
   // Initialize the subsystems
   public static DriveTrain drivetrain = new DriveTrain();
   public static Collector collector = new Collector();

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Collector.java

@@ -7,6 +7,7 @@ package edu.wpi.first.wpilibj.examples.pacgoat.subsystems;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 import edu.wpi.first.wpilibj.motorcontrol.MotorController;
 import edu.wpi.first.wpilibj.motorcontrol.Victor;
 
@@ -24,7 +25,7 @@ public class Collector extends Subsystem {
   private final MotorController m_rollerMotor = new Victor(6);
   private final DigitalInput m_ballDetector = new DigitalInput(10);
   private final DigitalInput m_openDetector = new DigitalInput(6);
-  private final Solenoid m_piston = new Solenoid(1, 1);
+  private final Solenoid m_piston = new Solenoid(Robot.pneumaticsModule, 1);
 
   /** Create a new collector subsystem. */
   public Collector() {

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/pacgoat/subsystems/Shooter.java

@@ -8,6 +8,7 @@ import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.examples.pacgoat.Robot;
 
 /**
  * The Shooter subsystem handles shooting. The mechanism for shooting is slightly complicated
@@ -20,9 +21,9 @@ import edu.wpi.first.wpilibj.command.Subsystem;
  */
 public class Shooter extends Subsystem {
   // Devices
-  DoubleSolenoid m_piston1 = new DoubleSolenoid(1, 3, 4);
-  DoubleSolenoid m_piston2 = new DoubleSolenoid(1, 5, 6);
-  Solenoid m_latchPiston = new Solenoid(1, 2);
+  DoubleSolenoid m_piston1 = new DoubleSolenoid(Robot.pneumaticsModule, 3, 4);
+  DoubleSolenoid m_piston2 = new DoubleSolenoid(Robot.pneumaticsModule, 5, 6);
+  Solenoid m_latchPiston = new Solenoid(Robot.pneumaticsModule, 2);
   DigitalInput m_piston1ReedSwitchFront = new DigitalInput(9);
   DigitalInput m_piston1ReedSwitchBack = new DigitalInput(11);
   // NOTE: currently ignored in simulation

wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/solenoid/Robot.java

@@ -6,6 +6,7 @@ package edu.wpi.first.wpilibj.examples.solenoid;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.PneumaticsControlModule;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.TimedRobot;
 
@@ -23,11 +24,13 @@ import edu.wpi.first.wpilibj.TimedRobot;
 public class Robot extends TimedRobot {
   private final Joystick m_stick = new Joystick(0);
 
+  private final PneumaticsControlModule m_pneumaticsModule = new PneumaticsControlModule(0);
+
   // Solenoid corresponds to a single solenoid.
-  private final Solenoid m_solenoid = new Solenoid(0);
+  private final Solenoid m_solenoid = new Solenoid(m_pneumaticsModule, 0);
 
   // DoubleSolenoid corresponds to a double solenoid.
-  private final DoubleSolenoid m_doubleSolenoid = new DoubleSolenoid(1, 2);
+  private final DoubleSolenoid m_doubleSolenoid = new DoubleSolenoid(m_pneumaticsModule, 1, 2);
 
   private static final int kSolenoidButton = 1;
   private static final int kDoubleSolenoidForward = 2;