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Implement PCM One Shot feature. Fixes artf4731 (#539)

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This commit is contained in:
sciencewhiz
2017-11-26 12:55:21 -08:00
committed by Peter Johnson
parent a338ee8be0
commit 7a250a1b93
11 changed files with 297 additions and 1 deletions
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21
hal/src/main/native/athena/Solenoid.cpp
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@@ -154,4 +154,25 @@ void HAL_ClearAllPCMStickyFaults(int32_t module, int32_t* status) {
*status = PCM_modules[module]->ClearStickyFaults();
}
void HAL_SetOneShotDuration(HAL_SolenoidHandle solenoidPortHandle,
int32_t durMS, int32_t* status) {
auto port = solenoidHandles.Get(solenoidPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
*status =
PCM_modules[port->module]->SetOneShotDurationMs(port->channel, durMS);
}
void HAL_FireOneShot(HAL_SolenoidHandle solenoidPortHandle, int32_t* status) {
auto port = solenoidHandles.Get(solenoidPortHandle);
if (port == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
*status = PCM_modules[port->module]->FireOneShotSolenoid(port->channel);
}
} // extern "C"