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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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52
wpilibj/src/main/java/edu/wpi/first/wpilibj/PowerDistribution.java
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@@ -19,26 +19,40 @@ public class PowerDistribution implements Sendable, AutoCloseable {
private final int m_handle;
private final int m_module;
public static final int kDefaultModule = PowerDistributionJNI.DEFAULT_MODULE;
public enum ModuleType {
kAutomatic(PowerDistributionJNI.AUTOMATIC_TYPE),
kCTRE(PowerDistributionJNI.CTRE_TYPE),
kRev(PowerDistributionJNI.REV_TYPE);
public final int value;
ModuleType(int value) {
this.value = value;
}
}
/**
* Constructs a PowerDistribution.
*
* @param module The CAN ID of the PDP
*/
public PowerDistribution(int module) {
m_handle = PowerDistributionJNI.initialize(module, 0);
m_module = module;
public PowerDistribution(int module, ModuleType moduleType) {
m_handle = PowerDistributionJNI.initialize(module, moduleType.value);
m_module = PowerDistributionJNI.getModuleNumber(m_handle);
HAL.report(tResourceType.kResourceType_PDP, module + 1);
SendableRegistry.addLW(this, "PowerDistribution", module);
HAL.report(tResourceType.kResourceType_PDP, m_module + 1);
SendableRegistry.addLW(this, "PowerDistribution", m_module);
}
/**
* Constructs a PowerDistribution.
*
* <p>Uses the default CAN ID (0).
* <p>Uses the default CAN ID.
*/
public PowerDistribution() {
this(0);
this(kDefaultModule, ModuleType.kAutomatic);
}
@Override
@@ -46,6 +60,15 @@ public class PowerDistribution implements Sendable, AutoCloseable {
SendableRegistry.remove(this);
}
/**
* Gets the number of channel for this power distribution.
*
* @return Number of output channels.
*/
public int getNumChannels() {
return PowerDistributionJNI.getNumChannels(m_handle);
}
/**
* Query the input voltage of the PDP.
*
@@ -71,7 +94,7 @@ public class PowerDistribution implements Sendable, AutoCloseable {
* @return The current of one of the PDP channels (channels 0-15) in Amperes
*/
public double getCurrent(int channel) {
double current = PowerDistributionJNI.getChannelCurrent((byte) channel, m_handle);
double current = PowerDistributionJNI.getChannelCurrent(m_handle, channel);
return current;
}
@@ -122,14 +145,25 @@ public class PowerDistribution implements Sendable, AutoCloseable {
return m_module;
}
public boolean getSwitchableChannel() {
return PowerDistributionJNI.getSwitchableChannel(m_handle);
}
public void setSwitchableChannel(boolean enabled) {
PowerDistributionJNI.setSwitchableChannel(m_handle, enabled);
}
@Override
public void initSendable(SendableBuilder builder) {
builder.setSmartDashboardType("PowerDistribution");
for (int i = 0; i < SensorUtil.kPDPChannels; ++i) {
int numChannels = getNumChannels();
for (int i = 0; i < numChannels; ++i) {
final int chan = i;
builder.addDoubleProperty("Chan" + i, () -> getCurrent(chan), null);
}
builder.addDoubleProperty("Voltage", this::getVoltage, null);
builder.addDoubleProperty("TotalCurrent", this::getTotalCurrent, null);
builder.addBooleanProperty(
"SwitchableChannel", this::getSwitchableChannel, this::setSwitchableChannel);
}
}

8
wpilibj/src/main/java/edu/wpi/first/wpilibj/SensorUtil.java
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@@ -30,7 +30,7 @@ public final class SensorUtil {
public static final int kAnalogOutputChannels = PortsJNI.getNumAnalogOutputs();
/** Number of solenoid channels per module. */
public static final int kSolenoidChannels = PortsJNI.getNumSolenoidChannels();
public static final int kCTRESolenoidChannels = PortsJNI.getNumCTRESolenoidChannels();
/** Number of PWM channels per roboRIO. */
public static final int kPwmChannels = PortsJNI.getNumPWMChannels();
@@ -39,13 +39,13 @@ public final class SensorUtil {
public static final int kRelayChannels = PortsJNI.getNumRelayHeaders();
/** Number of power distribution channels per PDP. */
public static final int kPDPChannels = PortsJNI.getNumPDPChannels();
public static final int kCTREPDPChannels = PortsJNI.getNumCTREPDPChannels();
/** Number of power distribution modules per PDP. */
public static final int kPDPModules = PortsJNI.getNumPDPModules();
public static final int kCTREPDPModules = PortsJNI.getNumCTREPDPModules();
/** Number of PCM Modules. */
public static final int kPCMModules = PortsJNI.getNumPCMModules();
public static final int kCTREPCMModules = PortsJNI.getNumCTREPCMModules();
/**
* Check that the digital channel number is valid. Verify that the channel number is one of the