From 1e812ac4d98792df190842d5d4a2ff41c10935e1 Mon Sep 17 00:00:00 2001
From: Brad Miller <brad@bradhouse.com>
Date: Sun, 7 Sep 2014 14:19:26 +0000
Subject: [PATCH] Added comments to the compressor class per artf3527.

Change-Id: I48d0d16242da064e8502e6fbddccca82dc680044

Updated comments with a few more details

Change-Id: Icab1698f2ea4e2032e50cbf5ac63341ba5ee1dcf
---
 .../edu/wpi/first/wpilibj/Compressor.java     | 57 +++++++++++++++++++
 1 file changed, 57 insertions(+)

diff --git a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Compressor.java b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Compressor.java
index ceb2543379..306afbfa93 100644
--- a/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Compressor.java
+++ b/wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Compressor.java
@@ -9,13 +9,36 @@ import edu.wpi.first.wpilibj.hal.HALUtil;
 import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
 import edu.wpi.first.wpilibj.tables.ITable;
 
+/**
+ * Class for operating the PCM (Pneumatics compressor module)
+ * The PCM automatically will run in close-loop mode by default whenever a Solenoid object is 
+ * created. For most cases the Compressor object does not need to be
+ * instantiated or used in a robot program.
+ * 
+ * This class is only required in cases where more detailed status or to enable/disable
+ * closed loop control. Note: you cannot operate the compressor directly from this class as
+ * doing so would circumvent the safety provided in using the pressure switch and closed
+ * loop control. You can only turn off closed loop control, thereby stopping the compressor
+ * from operating.
+ */
 public class Compressor extends SensorBase implements LiveWindowSendable {
 	private ByteBuffer m_pcm;
 
+	/**
+	 * Create an instance of the Compressor
+	 * @param pcmID
+	 * 		The PCM CAN device ID. Most robots that use PCM will have a single module. Use this
+	 * 		for supporting a second module other than the default.
+	 */
 	public Compressor(int pcmId) {
 		initCompressor(pcmId);
 	}
 
+	/**
+	 * Create an instance of the Compressor
+	 * Makes a new instance of the compressor using the default address. Additional modules can be
+	 * supported by making a new instancce and specifying the CAN ID
+	 */
 	public Compressor() {
 		initCompressor(getDefaultSolenoidModule());
 	}
@@ -26,14 +49,30 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
 		m_pcm = CompressorJNI.initializeCompressor((byte)module);
 	}
 
+	/**
+	 * Start the compressor running in closed loop control mode
+	 * Use the method in cases where you would like to manually stop and start the compressor
+	 * for applications such as conserving battery or making sure that the compressor motor
+	 * doesn't start during critical operations.
+	 */
 	public void start() {
 		setClosedLoopControl(true);
 	}
 
+	/**
+	 * Stop the compressor from running in closed loop control mode.
+	 * Use the method in cases where you would like to manually stop and start the compressor
+	 * for applications such as conserving battery or making sure that the compressor motor
+	 * doesn't start during critical operations.
+	 */
 	public void stop() {
 		setClosedLoopControl(false);
 	}
 
+	/**
+	 * Get the enabled status of the compressor
+	 * @returns true if the compressor is on
+	 */
 	public boolean enabled() {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
@@ -44,6 +83,10 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
 		return on;
 	}
 
+	/**
+	 * Get the current pressure switch value
+	 * @return true if the pressure is low by reading the pressure switch that is plugged into the PCM
+	 */
 	public boolean getPressureSwitchValue() {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
@@ -54,6 +97,10 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
 		return on;
 	}
 
+	/**
+	 * Get the current being used by the compressor
+	 * @return current consumed in amps for the compressor motor
+	 */
 	public float getCompressorCurrent() {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
@@ -64,6 +111,12 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
 		return current;
 	}
 
+	/**
+	 * Set the PCM in closed loop control mode
+	 * @param on
+	 * 			If true sets the compressor to be in closed loop control mode otherwise
+	 * 			normal operation of the compressor is disabled.
+	 */
 	public void setClosedLoopControl(boolean on) {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);
@@ -72,6 +125,10 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
 		HALUtil.checkStatus(status.asIntBuffer());
 	}
 
+	/**
+	 * Gets the current operating mode of the PCM
+	 * @return true if compressor is operating on closed-loop mode, otherwise return false.
+	 */
 	public boolean getClosedLoopControl() {
 		ByteBuffer status = ByteBuffer.allocateDirect(4);
 		status.order(ByteOrder.LITTLE_ENDIAN);