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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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47
wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp
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@@ -26,21 +26,22 @@
using namespace wpi;
/** Converts volts to PSI per the REV Analog Pressure Sensor datasheet. */
wpi::units::pounds_per_square_inch_t VoltsToPSI(wpi::units::volt_t sensorVoltage,
wpi::units::volt_t supplyVoltage) {
wpi::units::pounds_per_square_inch_t VoltsToPSI(
wpi::units::volt_t sensorVoltage, wpi::units::volt_t supplyVoltage) {
return wpi::units::pounds_per_square_inch_t{
250 * (sensorVoltage.value() / supplyVoltage.value()) - 25};
}
/** Converts PSI to volts per the REV Analog Pressure Sensor datasheet. */
wpi::units::volt_t PSIToVolts(wpi::units::pounds_per_square_inch_t pressure,
wpi::units::volt_t supplyVoltage) {
wpi::units::volt_t supplyVoltage) {
return wpi::units::volt_t{supplyVoltage.value() *
(0.004 * pressure.value() + 0.1)};
(0.004 * pressure.value() + 0.1)};
}
wpi::util::mutex PneumaticHub::m_handleLock;
std::unique_ptr<wpi::util::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>[]>
std::unique_ptr<
wpi::util::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>[]>
PneumaticHub::m_handleMaps = nullptr;
// Always called under lock, so we can avoid the double lock from the magic
@@ -49,10 +50,11 @@ std::weak_ptr<PneumaticHub::DataStore>& PneumaticHub::GetDataStore(int busId,
int module) {
int32_t numBuses = HAL_GetNumCanBuses();
WPILIB_AssertMessage(busId >= 0 && busId < numBuses,
"Bus {} out of range. Must be [0-{}).", busId, numBuses);
"Bus {} out of range. Must be [0-{}).", busId, numBuses);
if (!m_handleMaps) {
m_handleMaps = std::make_unique<
wpi::util::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>[]>(numBuses);
wpi::util::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>[]>(
numBuses);
}
return m_handleMaps[busId][module];
}
@@ -138,17 +140,17 @@ void PneumaticHub::EnableCompressorAnalog(
wpi::units::pounds_per_square_inch_t maxPressure) {
if (minPressure >= maxPressure) {
throw WPILIB_MakeError(err::InvalidParameter,
"maxPressure must be greater than minPressure");
"maxPressure must be greater than minPressure");
}
if (minPressure < 0_psi || minPressure > 120_psi) {
throw WPILIB_MakeError(err::ParameterOutOfRange,
"minPressure must be between 0 and 120 PSI, got {}",
minPressure);
"minPressure must be between 0 and 120 PSI, got {}",
minPressure);
}
if (maxPressure < 0_psi || maxPressure > 120_psi) {
throw WPILIB_MakeError(err::ParameterOutOfRange,
"maxPressure must be between 0 and 120 PSI, got {}",
maxPressure);
"maxPressure must be between 0 and 120 PSI, got {}",
maxPressure);
}
// Send the voltage as it would be if the 5V rail was at exactly 5V.
@@ -168,17 +170,17 @@ void PneumaticHub::EnableCompressorHybrid(
wpi::units::pounds_per_square_inch_t maxPressure) {
if (minPressure >= maxPressure) {
throw WPILIB_MakeError(err::InvalidParameter,
"maxPressure must be greater than minPressure");
"maxPressure must be greater than minPressure");
}
if (minPressure < 0_psi || minPressure > 120_psi) {
throw WPILIB_MakeError(err::ParameterOutOfRange,
"minPressure must be between 0 and 120 PSI, got {}",
minPressure);
"minPressure must be between 0 and 120 PSI, got {}",
minPressure);
}
if (maxPressure < 0_psi || maxPressure > 120_psi) {
throw WPILIB_MakeError(err::ParameterOutOfRange,
"maxPressure must be between 0 and 120 PSI, got {}",
maxPressure);
"maxPressure must be between 0 and 120 PSI, got {}",
maxPressure);
}
// Send the voltage as it would be if the 5V rail was at exactly 5V.
@@ -245,7 +247,8 @@ void PneumaticHub::FireOneShot(int index) {
WPILIB_ReportError(status, "Module {}", m_module);
}
void PneumaticHub::SetOneShotDuration(int index, wpi::units::second_t duration) {
void PneumaticHub::SetOneShotDuration(int index,
wpi::units::second_t duration) {
m_dataStore->m_oneShotDurMs[index] = duration;
}
@@ -360,7 +363,7 @@ bool PneumaticHub::Faults::GetChannelFault(int channel) const {
return Channel15Fault != 0;
default:
throw WPILIB_MakeError(err::ChannelIndexOutOfRange,
"Pneumatics fault channel out of bounds!");
"Pneumatics fault channel out of bounds!");
}
}
@@ -405,13 +408,15 @@ wpi::units::volt_t PneumaticHub::GetAnalogVoltage(int channel) const {
return wpi::units::volt_t{voltage};
}
wpi::units::pounds_per_square_inch_t PneumaticHub::GetPressure(int channel) const {
wpi::units::pounds_per_square_inch_t PneumaticHub::GetPressure(
int channel) const {
int32_t status = 0;
auto sensorVoltage = HAL_GetREVPHAnalogVoltage(m_handle, channel, &status);
WPILIB_ReportError(status, "Module {}", m_module);
auto supplyVoltage = HAL_GetREVPH5VVoltage(m_handle, &status);
WPILIB_ReportError(status, "Module {}", m_module);
return VoltsToPSI(wpi::units::volt_t{sensorVoltage}, wpi::units::volt_t{supplyVoltage});
return VoltsToPSI(wpi::units::volt_t{sensorVoltage},
wpi::units::volt_t{supplyVoltage});
}
Solenoid PneumaticHub::MakeSolenoid(int channel) {