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PJ Reiniger
2025-11-07 19:55:39 -05:00
committed by Peter Johnson
parent 10b4a0c971
commit 7ca1be9bae
1197 changed files with 0 additions and 0 deletions
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wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp Normal file
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.
#include "frc/PneumaticsBase.h"
#include <memory>
#include <hal/REVPH.h>
#include "frc/Errors.h"
#include "frc/PneumaticHub.h"
#include "frc/PneumaticsControlModule.h"
#include "frc/SensorUtil.h"
using namespace frc;
static_assert(
static_cast<int>(CompressorConfigType::Disabled) ==
HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kDisabled);
static_assert(
static_cast<int>(CompressorConfigType::Digital) ==
HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kDigital);
static_assert(
static_cast<int>(CompressorConfigType::Analog) ==
HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kAnalog);
static_assert(
static_cast<int>(CompressorConfigType::Hybrid) ==
HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kHybrid);
std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType(
int busId, int module, PneumaticsModuleType moduleType) {
if (moduleType == PneumaticsModuleType::CTREPCM) {
return PneumaticsControlModule::GetForModule(busId, module);
} else if (moduleType == PneumaticsModuleType::REVPH) {
return PneumaticHub::GetForModule(busId, module);
}
throw FRC_MakeError(err::InvalidParameter, "{}",
static_cast<int>(moduleType));
}
int PneumaticsBase::GetDefaultForType(PneumaticsModuleType moduleType) {
if (moduleType == PneumaticsModuleType::CTREPCM) {
return SensorUtil::GetDefaultCTREPCMModule();
} else if (moduleType == PneumaticsModuleType::REVPH) {
return SensorUtil::GetDefaultREVPHModule();
}
throw FRC_MakeError(err::InvalidParameter, "{}",
static_cast<int>(moduleType));
}