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Added comments to the compressor class per artf3527.

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Change-Id: I48d0d16242da064e8502e6fbddccca82dc680044

Updated comments with a few more details

Change-Id: Icab1698f2ea4e2032e50cbf5ac63341ba5ee1dcf
This commit is contained in:
Brad Miller
2014-09-07 14:19:26 +00:00
committed by Thomas Clark
parent ecc6815f68
commit 1e812ac4d9
1 changed files with 57 additions and 0 deletions
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57
wpilibj/wpilibJavaDevices/src/main/java/edu/wpi/first/wpilibj/Compressor.java
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@@ -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);