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Update Compressor documentation (#244)
This commit is contained in:
Austin Shalit
committed by
Peter Johnson
Peter Johnson
parent
5d2a08443b
commit
28e178b1a8
@@ -12,62 +12,67 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
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import edu.wpi.first.wpilibj.tables.ITable;
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/**
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* Class for operating the PCM (Pneumatics compressor module) The PCM automatically will run in
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* close-loop mode by default whenever a Solenoid object is created. For most cases the Compressor
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* object does not need to be instantiated or used in a robot program. This class is only required
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* in cases where more detailed status or to enable/disable closed loop control. Note: you cannot
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* operate the compressor directly from this class as doing so would circumvent the safety provided
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* in using the pressure switch and closed loop control. You can only turn off closed loop control,
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* thereby stopping the compressor from operating.
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* Class for operating a compressor connected to a PCM (Pneumatic Control Module). The PCM will
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* automatically run in closed loop mode by default whenever a {@link Solenoid} object is created.
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* For most cases, a Compressor object does not need to be instantiated or used in a robot program.
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* This class is only required in cases where the robot program needs a more detailed status of the
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* compressor or to enable/disable closed loop control.
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*
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* <p>Note: you cannot operate the compressor directly from this class as doing so would circumvent
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* the safety provided by using the pressure switch and closed loop control. You can only turn off
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* closed loop control, thereby stopping the compressor from operating.
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*/
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public class Compressor extends SensorBase implements LiveWindowSendable {
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private int m_compressorHandle;
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private byte m_module;
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/**
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* Constructor.
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* Makes a new instance of the compressor using the provided CAN device ID. Use this constructor
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* when you have more than one PCM.
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*
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* <p>Most robots that use PCM will have a single module. Use this for supporting a second module
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* other than the default.
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*
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* @param module The PCM CAN device ID.
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* @param module The PCM CAN device ID (0 - 62 inclusive)
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*/
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public Compressor(int module) {
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m_table = null;
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m_module = (byte)module;
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m_module = (byte) module;
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m_compressorHandle = CompressorJNI.initializeCompressor((byte) module);
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}
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/**
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* Create an instance of the Compressor Makes a new instance of the compressor using the default
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* PCM ID (0). Additional modules can be supported by making a new instance and specifying the CAN
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* ID.
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* Makes a new instance of the compressor using the default PCM ID of 0.
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*
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* <p>Additional modules can be supported by making a new instance and {@link #Compressor(int)
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* specifying the CAN ID.}
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*/
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public Compressor() {
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this(getDefaultSolenoidModule());
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}
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/**
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* Start the compressor running in closed loop control mode Use the method in cases where you
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* would like to manually stop and start the compressor for applications such as conserving
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* battery or making sure that the compressor motor doesn't start during critical operations.
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* Start the compressor running in closed loop control mode.
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*
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* <p>Use the method in cases where you would like to manually stop and start the compressor for
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* applications such as conserving battery or making sure that the compressor motor doesn't start
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* during critical operations.
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*/
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public void start() {
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setClosedLoopControl(true);
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}
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/**
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* Stop the compressor from running in closed loop control mode. Use the method in cases where you
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* would like to manually stop and start the compressor for applications such as conserving
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* battery or making sure that the compressor motor doesn't start during critical operations.
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* Stop the compressor from running in closed loop control mode.
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*
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* <p>Use the method in cases where you would like to manually stop and start the compressor for
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* applications such as conserving battery or making sure that the compressor motor doesn't start
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* during critical operations.
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*/
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public void stop() {
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setClosedLoopControl(false);
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}
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/**
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* Get the enabled status of the compressor.
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* Get the status of the compressor.
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*
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* @return true if the compressor is on
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*/
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@@ -76,9 +81,9 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
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}
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/**
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* Get the current pressure switch value.
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* Get the pressure switch value.
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*
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* @return true if the pressure is low by reading the pressure switch that is plugged into the PCM
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* @return true if the pressure is low
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*/
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public boolean getPressureSwitchValue() {
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return CompressorJNI.getCompressorPressureSwitch(m_compressorHandle);
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@@ -87,7 +92,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
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/**
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* Get the current being used by the compressor.
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*
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* @return current consumed in amps for the compressor motor
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* @return current consumed by the compressor in amps
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*/
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public float getCompressorCurrent() {
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return CompressorJNI.getCompressorCurrent(m_compressorHandle);
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@@ -96,8 +101,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
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/**
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* Set the PCM in closed loop control mode.
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*
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* @param on If true sets the compressor to be in closed loop control mode otherwise normal
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* operation of the compressor is disabled.
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* @param on if true sets the compressor to be in closed loop control mode (default)
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*/
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public void setClosedLoopControl(boolean on) {
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CompressorJNI.setCompressorClosedLoopControl(m_compressorHandle, on);
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@@ -106,7 +110,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
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/**
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* Gets the current operating mode of the PCM.
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*
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* @return true if compressor is operating on closed-loop mode, otherwise return false.
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* @return true if compressor is operating on closed-loop mode
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*/
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public boolean getClosedLoopControl() {
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return CompressorJNI.getCompressorClosedLoopControl(m_compressorHandle);
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@@ -123,7 +127,7 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
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}
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/**
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* If PCM sticky fault is set : Compressor Drive is disabled due to compressor current being too
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* If PCM sticky fault is set : Compressor is disabled due to compressor current being too
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* high.
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*
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* @return true if PCM sticky fault is set.
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@@ -169,8 +173,8 @@ public class Compressor extends SensorBase implements LiveWindowSendable {
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/**
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* Clear ALL sticky faults inside PCM that Compressor is wired to.
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*
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* <p>If a sticky fault is set, then it will be persistently cleared. Compressor drive maybe
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* momentarily disable while flags are being cleared. Care should be taken to not call this too
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* <p>If a sticky fault is set, then it will be persistently cleared. The compressor might
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* momentarily disable while the flags are being cleared. Doo not call this method too
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* frequently, otherwise normal compressor functionality may be prevented.
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*
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* <p>If no sticky faults are set then this call will have no effect.
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