Note: you cannot operate the compressor directly from this class as doing so would circumvent + * the safety provided by 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 int m_compressorHandle; private byte m_module; /** - * Constructor. + * Makes a new instance of the compressor using the provided CAN device ID. Use this constructor + * when you have more than one PCM. * - *
Most robots that use PCM will have a single module. Use this for supporting a second module - * other than the default. - * - * @param module The PCM CAN device ID. + * @param module The PCM CAN device ID (0 - 62 inclusive) */ public Compressor(int module) { m_table = null; - m_module = (byte)module; + m_module = (byte) module; m_compressorHandle = CompressorJNI.initializeCompressor((byte) module); } /** - * Create an instance of the Compressor Makes a new instance of the compressor using the default - * PCM ID (0). Additional modules can be supported by making a new instance and specifying the CAN - * ID. + * Makes a new instance of the compressor using the default PCM ID of 0. + * + *
Additional modules can be supported by making a new instance and {@link #Compressor(int) + * specifying the CAN ID.} */ public Compressor() { this(getDefaultSolenoidModule()); } /** - * 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. + * 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. + * 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. + * Get the status of the compressor. * * @return true if the compressor is on */ @@ -76,9 +81,9 @@ public class Compressor extends SensorBase implements LiveWindowSendable { } /** - * Get the current pressure switch value. + * Get the pressure switch value. * - * @return true if the pressure is low by reading the pressure switch that is plugged into the PCM + * @return true if the pressure is low */ public boolean getPressureSwitchValue() { return CompressorJNI.getCompressorPressureSwitch(m_compressorHandle); @@ -87,7 +92,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable { /** * Get the current being used by the compressor. * - * @return current consumed in amps for the compressor motor + * @return current consumed by the compressor in amps */ public float getCompressorCurrent() { return CompressorJNI.getCompressorCurrent(m_compressorHandle); @@ -96,8 +101,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable { /** * 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. + * @param on if true sets the compressor to be in closed loop control mode (default) */ public void setClosedLoopControl(boolean on) { CompressorJNI.setCompressorClosedLoopControl(m_compressorHandle, on); @@ -106,7 +110,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable { /** * Gets the current operating mode of the PCM. * - * @return true if compressor is operating on closed-loop mode, otherwise return false. + * @return true if compressor is operating on closed-loop mode */ public boolean getClosedLoopControl() { return CompressorJNI.getCompressorClosedLoopControl(m_compressorHandle); @@ -123,7 +127,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable { } /** - * If PCM sticky fault is set : Compressor Drive is disabled due to compressor current being too + * If PCM sticky fault is set : Compressor is disabled due to compressor current being too * high. * * @return true if PCM sticky fault is set. @@ -169,8 +173,8 @@ public class Compressor extends SensorBase implements LiveWindowSendable { /** * Clear ALL sticky faults inside PCM that Compressor is wired to. * - *
If a sticky fault is set, then it will be persistently cleared. Compressor drive maybe - * momentarily disable while flags are being cleared. Care should be taken to not call this too + *
If a sticky fault is set, then it will be persistently cleared. The compressor might + * momentarily disable while the flags are being cleared. Doo not call this method too * frequently, otherwise normal compressor functionality may be prevented. * *
If no sticky faults are set then this call will have no effect.