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[wpilib, hal] High Level REV PH changes (#3792)

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More functionality was implemented at the HAL level, so expose that to the wpilib level.

This also does units changes for all the PH related functionality.
This commit is contained in:
Thad House
2021-12-19 13:41:35 -08:00
committed by GitHub
parent 59a7528fd6
commit 34b2d0dae1
23 changed files with 770 additions and 143 deletions
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16
wpilibc/src/main/native/cpp/PneumaticsControlModule.cpp
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@@ -96,15 +96,15 @@ void PneumaticsControlModule::EnableCompressorDigital() {
FRC_CheckErrorStatus(status, "Module {}", m_module);
}
void PneumaticsControlModule::EnableCompressorAnalog(double minAnalogVoltage,
double maxAnalogVoltage) {
void PneumaticsControlModule::EnableCompressorAnalog(
units::volt_t minAnalogVoltage, units::volt_t maxAnalogVoltage) {
int32_t status = 0;
HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
}
void PneumaticsControlModule::EnableCompressorHybrid(double minAnalogVoltage,
double maxAnalogVoltage) {
void PneumaticsControlModule::EnableCompressorHybrid(
units::volt_t minAnalogVoltage, units::volt_t maxAnalogVoltage) {
int32_t status = 0;
HAL_SetCTREPCMClosedLoopControl(m_handle, true, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
@@ -125,11 +125,11 @@ bool PneumaticsControlModule::GetPressureSwitch() const {
return result;
}
double PneumaticsControlModule::GetCompressorCurrent() const {
units::ampere_t PneumaticsControlModule::GetCompressorCurrent() const {
int32_t status = 0;
auto result = HAL_GetCTREPCMCompressorCurrent(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return result;
return units::ampere_t{result};
}
bool PneumaticsControlModule::GetCompressorCurrentTooHighFault() const {
@@ -261,6 +261,10 @@ void PneumaticsControlModule::UnreserveCompressor() {
m_dataStore->m_compressorReserved = false;
}
units::volt_t PneumaticsControlModule::GetAnalogVoltage(int channel) const {
return units::volt_t{0};
}
Solenoid PneumaticsControlModule::MakeSolenoid(int channel) {
return Solenoid{m_module, PneumaticsModuleType::CTREPCM, channel};
}