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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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13
wpilibc/src/main/native/include/frc/PneumaticsBase.h
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@@ -7,6 +7,7 @@
#include <memory>
#include <units/current.h>
#include <units/pressure.h>
#include <units/time.h>
#include <units/voltage.h>
@@ -31,11 +32,13 @@ class PneumaticsBase {
virtual void EnableCompressorDigital() = 0;
virtual void EnableCompressorAnalog(units::volt_t minAnalogVoltage,
units::volt_t maxAnalogVoltage) = 0;
virtual void EnableCompressorAnalog(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) = 0;
virtual void EnableCompressorHybrid(units::volt_t minAnalogVoltage,
units::volt_t maxAnalogVoltage) = 0;
virtual void EnableCompressorHybrid(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) = 0;
virtual CompressorConfigType GetCompressorConfigType() const = 0;
@@ -63,6 +66,8 @@ class PneumaticsBase {
virtual units::volt_t GetAnalogVoltage(int channel) const = 0;
virtual units::pounds_per_square_inch_t GetPressure(int channel) const = 0;
virtual Solenoid MakeSolenoid(int channel) = 0;
virtual DoubleSolenoid MakeDoubleSolenoid(int forwardChannel,
int reverseChannel) = 0;