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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;
};