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[wpilib] Use PSI for compressor config and sensor reading (#3847)

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This adds the REV Analog Pressure Sensor PSI to volt (and vice versa) conversion to allow setting the compressor config in PSI and getting the sensor reading in PSI. Also adds input validation for pressure values at the higher level.

Co-authored-by: Tyler Veness <calcmogul@gmail.com>
This commit is contained in:
Jan-Felix Abellera
2021-12-31 22:04:56 -07:00
committed by GitHub
parent f401ea9aae
commit 7c09f44898
12 changed files with 208 additions and 52 deletions
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66
wpilibc/src/main/native/cpp/PneumaticHub.cpp
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@@ -13,9 +13,24 @@
#include "frc/Errors.h"
#include "frc/SensorUtil.h"
#include "frc/Solenoid.h"
#include "frc/fmt/Units.h"
using namespace frc;
/** Converts volts to PSI per the REV Analog Pressure Sensor datasheet. */
units::pounds_per_square_inch_t VoltsToPSI(units::volt_t sensorVoltage,
units::volt_t supplyVoltage) {
auto pressure = 250 * (sensorVoltage.value() / supplyVoltage.value()) - 25;
return units::pounds_per_square_inch_t{pressure};
}
/** Converts PSI to volts per the REV Analog Pressure Sensor datasheet. */
units::volt_t PSIToVolts(units::pounds_per_square_inch_t pressure,
units::volt_t supplyVoltage) {
auto voltage = supplyVoltage.value() * (0.004 * pressure.value() + 0.1);
return units::volt_t{voltage};
}
wpi::mutex PneumaticHub::m_handleLock;
std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<PneumaticHub::DataStore>>>
PneumaticHub::m_handleMap = nullptr;
@@ -93,17 +108,51 @@ void PneumaticHub::EnableCompressorDigital() {
FRC_ReportError(status, "Module {}", m_module);
}
void PneumaticHub::EnableCompressorAnalog(units::volt_t minAnalogVoltage,
units::volt_t maxAnalogVoltage) {
void PneumaticHub::EnableCompressorAnalog(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) {
if (minPressure >= maxPressure) {
throw FRC_MakeError(err::InvalidParameter, "{}",
"maxPressure must be greater than minPresure");
}
if (minPressure < 0_psi || minPressure > 120_psi) {
throw FRC_MakeError(err::ParameterOutOfRange,
"minPressure must be between 0 and 120 PSI, got {}",
minPressure);
}
if (maxPressure < 0_psi || maxPressure > 120_psi) {
throw FRC_MakeError(err::ParameterOutOfRange,
"maxPressure must be between 0 and 120 PSI, got {}",
maxPressure);
}
int32_t status = 0;
units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
HAL_SetREVPHClosedLoopControlAnalog(m_handle, minAnalogVoltage.value(),
maxAnalogVoltage.value(), &status);
FRC_ReportError(status, "Module {}", m_module);
}
void PneumaticHub::EnableCompressorHybrid(units::volt_t minAnalogVoltage,
units::volt_t maxAnalogVoltage) {
void PneumaticHub::EnableCompressorHybrid(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) {
if (minPressure >= maxPressure) {
throw FRC_MakeError(err::InvalidParameter, "{}",
"maxPressure must be greater than minPresure");
}
if (minPressure < 0_psi || minPressure > 120_psi) {
throw FRC_MakeError(err::ParameterOutOfRange,
"minPressure must be between 0 and 120 PSI, got {}",
minPressure);
}
if (maxPressure < 0_psi || maxPressure > 120_psi) {
throw FRC_MakeError(err::ParameterOutOfRange,
"maxPressure must be between 0 and 120 PSI, got {}",
maxPressure);
}
int32_t status = 0;
units::volt_t minAnalogVoltage = PSIToVolts(minPressure, 5_V);
units::volt_t maxAnalogVoltage = PSIToVolts(maxPressure, 5_V);
HAL_SetREVPHClosedLoopControlHybrid(m_handle, minAnalogVoltage.value(),
maxAnalogVoltage.value(), &status);
FRC_ReportError(status, "Module {}", m_module);
@@ -286,6 +335,15 @@ units::volt_t PneumaticHub::GetAnalogVoltage(int channel) const {
return units::volt_t{voltage};
}
units::pounds_per_square_inch_t PneumaticHub::GetPressure(int channel) const {
int32_t status = 0;
auto sensorVoltage = HAL_GetREVPHAnalogVoltage(m_handle, channel, &status);
FRC_ReportError(status, "Module {}", m_module);
auto supplyVoltage = HAL_GetREVPH5VVoltage(m_handle, &status);
FRC_ReportError(status, "Module {}", m_module);
return VoltsToPSI(units::volt_t{sensorVoltage}, units::volt_t{supplyVoltage});
}
Solenoid PneumaticHub::MakeSolenoid(int channel) {
return Solenoid{m_module, PneumaticsModuleType::REVPH, channel};
}