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wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp

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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.
+
+#pragma once
+
+#include <frc/AnalogPotentiometer.h>
+#include <frc/Compressor.h>
+#include <frc/PneumaticsControlModule.h>
+#include <frc2/command/CommandPtr.h>
+#include <frc2/command/SubsystemBase.h>
+#include <units/pressure.h>
+
+#include "Constants.h"
+
+class Pneumatics : frc2::SubsystemBase {
+ public:
+  Pneumatics();
+  /** Returns a command that disables the compressor indefinitely. */
+  frc2::CommandPtr DisableCompressorCommand();
+
+  /**
+   * Query the analog pressure sensor.
+   *
+   * @return the measured pressure, in PSI
+   */
+  units::pounds_per_square_inch_t GetPressure();
+
+ private:
+  // External analog pressure sensor
+  // product-specific voltage->pressure conversion, see product manual
+  // in this case, 250(V/5)-25
+  // the scale parameter in the AnalogPotentiometer constructor is scaled from
+  // 1 instead of 5, so if r is the raw AnalogPotentiometer output, the
+  // pressure is 250r-25
+  static constexpr double kScale = 250;
+  static constexpr double kOffset = -25;
+  frc::AnalogPotentiometer m_pressureTransducer{/* the AnalogIn port*/ 2,
+                                                kScale, kOffset};
+
+  // Compressor connected to a PH with a default CAN ID
+  frc::Compressor m_compressor{0, frc::PneumaticsModuleType::CTREPCM};
+};