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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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30
wpilibc/src/main/native/cpp/Solenoid.cpp
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@@ -111,6 +111,36 @@ bool Solenoid::IsBlackListed() const {
return (value != 0);
}
/**
* Set the pulse duration in the PCM. This is used in conjunction with
* the startPulse method to allow the PCM to control the timing of a pulse.
* The timing can be controlled in 0.01 second increments.
*
* @param durationSeconds The duration of the pulse, from 0.01 to 2.55 seconds.
*
* @see startPulse()
*/
void Solenoid::SetPulseDuration(double durationSeconds) {
int32_t durationMS = durationSeconds * 1000;
if (StatusIsFatal()) return;
int32_t status = 0;
HAL_SetOneShotDuration(m_solenoidHandle, durationMS, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
/**
* Trigger the PCM to generate a pulse of the duration set in
* setPulseDuration.
*
* @see setPulseDuration()
*/
void Solenoid::StartPulse() {
if (StatusIsFatal()) return;
int32_t status = 0;
HAL_FireOneShot(m_solenoidHandle, &status);
wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
}
void Solenoid::UpdateTable() {
if (m_valueEntry) m_valueEntry.SetBoolean(Get());
}