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[hal] [wpilib] Add initial support for the REV PDH (#3503)

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This commit is contained in:
Thad House
2021-08-14 11:44:56 -07:00
committed by GitHub
parent 5d9ae3cdb4
commit 10cc8b89c4
44 changed files with 6697 additions and 287 deletions
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15
wpilibc/src/main/native/include/frc/PowerDistribution.h
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@@ -17,10 +17,13 @@ namespace frc {
class PowerDistribution : public wpi::Sendable,
public wpi::SendableHelper<PowerDistribution> {
public:
static constexpr int kDefaultModule = -1;
enum class ModuleType { kAutomatic = 0, kCTRE = 1, kRev = 2 };
/**
* Constructs a PowerDistribution.
*
* Uses the default CAN ID (0).
* Uses the default CAN ID.
*/
PowerDistribution();
@@ -28,9 +31,11 @@ class PowerDistribution : public wpi::Sendable,
* Constructs a PowerDistribution.
*
* @param module The CAN ID of the PDP
* @param moduleType The type of module
*/
explicit PowerDistribution(int module);
PowerDistribution(int module, ModuleType moduleType);
~PowerDistribution() override;
PowerDistribution(PowerDistribution&&) = default;
PowerDistribution& operator=(PowerDistribution&&) = default;
@@ -93,10 +98,14 @@ class PowerDistribution : public wpi::Sendable,
*/
int GetModule() const;
bool GetSwitchableChannel() const;
void SetSwitchableChannel(bool enabled);
void InitSendable(wpi::SendableBuilder& builder) override;
private:
hal::Handle<HAL_PDPHandle> m_handle;
hal::Handle<HAL_PowerDistributionHandle> m_handle;
int m_module;
};

18
wpilibc/src/main/native/include/frc/SensorUtil.h
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@@ -71,29 +71,11 @@ class SensorUtil final {
*/
static bool CheckAnalogOutputChannel(int channel);
/**
* Verify that the power distribution channel number is within limits.
*
* @return PDP channel is valid
*/
static bool CheckPDPChannel(int channel);
/**
* Verify that the PDP module number is within limits. module numbers are
* 0-based
*
* @return PDP module is valid
*/
static bool CheckPDPModule(int module);
static const int kDigitalChannels;
static const int kAnalogInputs;
static const int kAnalogOutputs;
static const int kSolenoidChannels;
static const int kSolenoidModules;
static const int kPwmChannels;
static const int kRelayChannels;
static const int kPDPChannels;
};
} // namespace frc

4
wpilibc/src/main/native/include/frc/simulation/PowerDistributionSim.h
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@@ -142,7 +142,7 @@ class PowerDistributionSim {
* array must be big enough to hold all the PowerDistribution
* channels
*/
void GetAllCurrents(double* currents) const;
void GetAllCurrents(double* currents, int length) const;
/**
* Change the current in all of the PowerDistribution channels.
@@ -151,7 +151,7 @@ class PowerDistributionSim {
* array must be big enough to hold all the PowerDistribution
* channels
*/
void SetAllCurrents(const double* currents);
void SetAllCurrents(const double* currents, int length);
/**
* Reset all PowerDistribution simulation data.