Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-21 01:01:43 +00:00
Code Issues Packages Projects Releases Wiki Activity

Switches compressor to handles (#125)

Browse Source
This commit is contained in:
Thad House
2016-07-02 08:22:44 -07:00
committed by Peter Johnson
parent 0f105a26f7
commit 62c217cd01
9 changed files with 253 additions and 114 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
wpilibc/athena/src/Compressor.cpp
View File

@@ -13,7 +13,12 @@
* @param module The PCM ID to use (0-62)
*/
Compressor::Compressor(uint8_t pcmID) {
m_pcm_pointer = initializeCompressor(pcmID);
int32_t status = 0;
m_compressorHandle = initializeCompressor(pcmID, &status);
if (status != 0) {
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return;
}
SetClosedLoopControl(true);
}
@@ -21,13 +26,19 @@ Compressor::Compressor(uint8_t pcmID) {
* Starts closed-loop control. Note that closed loop control is enabled by
* default.
*/
void Compressor::Start() { SetClosedLoopControl(true); }
void Compressor::Start() {
if (StatusIsFatal()) return;
SetClosedLoopControl(true);
}
/**
* Stops closed-loop control. Note that closed loop control is enabled by
* default.
*/
void Compressor::Stop() { SetClosedLoopControl(false); }
void Compressor::Stop() {
if (StatusIsFatal()) return;
SetClosedLoopControl(false);
}
/**
* Check if compressor output is active.
@@ -35,10 +46,11 @@ void Compressor::Stop() { SetClosedLoopControl(false); }
* @return true if the compressor is on
*/
bool Compressor::Enabled() const {
if (StatusIsFatal()) return false;
int32_t status = 0;
bool value;
value = getCompressor(m_pcm_pointer, &status);
value = getCompressor(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -53,10 +65,11 @@ bool Compressor::Enabled() const {
* @return true if pressure is low
*/
bool Compressor::GetPressureSwitchValue() const {
if (StatusIsFatal()) return false;
int32_t status = 0;
bool value;
value = getPressureSwitch(m_pcm_pointer, &status);
value = getPressureSwitch(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -71,10 +84,11 @@ bool Compressor::GetPressureSwitchValue() const {
* @return The current through the compressor, in amps
*/
float Compressor::GetCompressorCurrent() const {
if (StatusIsFatal()) return 0;
int32_t status = 0;
float value;
value = getCompressorCurrent(m_pcm_pointer, &status);
value = getCompressorCurrent(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -91,9 +105,10 @@ float Compressor::GetCompressorCurrent() const {
* to disable.
*/
void Compressor::SetClosedLoopControl(bool on) {
if (StatusIsFatal()) return;
int32_t status = 0;
setClosedLoopControl(m_pcm_pointer, on, &status);
setClosedLoopControl(m_compressorHandle, on, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -108,10 +123,11 @@ void Compressor::SetClosedLoopControl(bool on) {
* disabled.
*/
bool Compressor::GetClosedLoopControl() const {
if (StatusIsFatal()) return false;
int32_t status = 0;
bool value;
value = getClosedLoopControl(m_pcm_pointer, &status);
value = getClosedLoopControl(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -127,10 +143,11 @@ bool Compressor::GetClosedLoopControl() const {
* disabled due to compressor current being too high.
*/
bool Compressor::GetCompressorCurrentTooHighFault() const {
if (StatusIsFatal()) return false;
int32_t status = 0;
bool value;
value = getCompressorCurrentTooHighFault(m_pcm_pointer, &status);
value = getCompressorCurrentTooHighFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -150,10 +167,11 @@ bool Compressor::GetCompressorCurrentTooHighFault() const {
* disabled due to compressor current being too high.
*/
bool Compressor::GetCompressorCurrentTooHighStickyFault() const {
if (StatusIsFatal()) return false;
int32_t status = 0;
bool value;
value = getCompressorCurrentTooHighStickyFault(m_pcm_pointer, &status);
value = getCompressorCurrentTooHighStickyFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -173,10 +191,11 @@ bool Compressor::GetCompressorCurrentTooHighStickyFault() const {
* appears to be shorted.
*/
bool Compressor::GetCompressorShortedStickyFault() const {
if (StatusIsFatal()) return false;
int32_t status = 0;
bool value;
value = getCompressorShortedStickyFault(m_pcm_pointer, &status);
value = getCompressorShortedStickyFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -192,10 +211,11 @@ bool Compressor::GetCompressorShortedStickyFault() const {
* appears to be shorted.
*/
bool Compressor::GetCompressorShortedFault() const {
if (StatusIsFatal()) return false;
int32_t status = 0;
bool value;
value = getCompressorShortedFault(m_pcm_pointer, &status);
value = getCompressorShortedFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -214,10 +234,11 @@ bool Compressor::GetCompressorShortedFault() const {
* appear to be wired, i.e. compressor is not drawing enough current.
*/
bool Compressor::GetCompressorNotConnectedStickyFault() const {
if (StatusIsFatal()) return false;
int32_t status = 0;
bool value;
value = getCompressorNotConnectedStickyFault(m_pcm_pointer, &status);
value = getCompressorNotConnectedStickyFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -233,10 +254,11 @@ bool Compressor::GetCompressorNotConnectedStickyFault() const {
* appear to be wired, i.e. compressor is not drawing enough current.
*/
bool Compressor::GetCompressorNotConnectedFault() const {
if (StatusIsFatal()) return false;
int32_t status = 0;
bool value;
value = getCompressorNotConnectedFault(m_pcm_pointer, &status);
value = getCompressorNotConnectedFault(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);
@@ -256,9 +278,10 @@ bool Compressor::GetCompressorNotConnectedFault() const {
* If no sticky faults are set then this call will have no effect.
*/
void Compressor::ClearAllPCMStickyFaults() {
if (StatusIsFatal()) return;
int32_t status = 0;
clearAllPCMStickyFaults(m_pcm_pointer, &status);
clearAllPCMStickyFaults(m_compressorHandle, &status);
if (status) {
wpi_setWPIError(Timeout);