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https://github.com/wpilibsuite/allwpilib
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[wpilib] Add/update documentation to PneumaticBase and subclasses (NFC) (#4881)
Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>
This commit is contained in:
Ryan Blue
@@ -79,31 +79,39 @@ class Compressor : public wpi::Sendable,
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bool IsEnabled() const;
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/**
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* Check if the pressure switch is triggered.
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* Returns the state of the pressure switch.
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*
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* @return true if pressure is low
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* @return True if pressure switch indicates that the system is not full,
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* otherwise false.
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*/
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bool GetPressureSwitchValue() const;
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/**
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* Query how much current the compressor is drawing.
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* Get the current drawn by the compressor.
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*
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* @return The current through the compressor, in amps
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* @return Current drawn by the compressor.
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*/
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units::ampere_t GetCurrent() const;
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/**
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* Query the analog input voltage (on channel 0) (if supported).
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* If supported by the device, returns the analog input voltage (on channel
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* 0).
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*
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* @return The analog input voltage, in volts
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* This function is only supported by the REV PH. On CTRE PCM, this will
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* return 0.
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*
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* @return The analog input voltage, in volts.
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*/
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units::volt_t GetAnalogVoltage() const;
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/**
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* Query the analog sensor pressure (on channel 0) (if supported). Note this
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* is only for use with the REV Analog Pressure Sensor.
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* If supported by the device, returns the pressure read by the analog
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* pressure sensor (on channel 0).
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*
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* @return The analog sensor pressure, in PSI
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* This function is only supported by the REV PH with the REV Analog Pressure
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* Sensor. On CTRE PCM, this will return 0.
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*
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* @return The pressure read by the analog pressure sensor.
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*/
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units::pounds_per_square_inch_t GetPressure() const;
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@@ -113,34 +121,68 @@ class Compressor : public wpi::Sendable,
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void Disable();
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/**
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* Enable compressor closed loop control using digital input.
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* Enables the compressor in digital mode using the digital pressure switch.
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* The compressor will turn on when the pressure switch indicates that the
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* system is not full, and will turn off when the pressure switch indicates
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* that the system is full.
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*/
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void EnableDigital();
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/**
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* Enable compressor closed loop control using analog input. Note this is only
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* for use with the REV Analog Pressure Sensor.
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* If supported by the device, enables the compressor in analog mode. This
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* mode uses an analog pressure sensor connected to analog channel 0 to cycle
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* the compressor. The compressor will turn on when the pressure drops below
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* {@code minPressure} and will turn off when the pressure reaches {@code
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* maxPressure}. This mode is only supported by the REV PH with the REV Analog
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* Pressure Sensor connected to analog channel 0.
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*
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* <p>On CTRE PCM, this will enable digital control.
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* On CTRE PCM, this will enable digital control.
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*
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* @param minPressure The minimum pressure in PSI to enable compressor
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* @param maxPressure The maximum pressure in PSI to disable compressor
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* @param minPressure The minimum pressure. The compressor will turn on when
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* the pressure drops below this value.
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* @param maxPressure The maximum pressure. The compressor will turn off when
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* the pressure reaches this value.
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*/
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void EnableAnalog(units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure);
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/**
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* Enable compressor closed loop control using hybrid input. Note this is only
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* for use with the REV Analog Pressure Sensor.
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* If supported by the device, enables the compressor in hybrid mode. This
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* mode uses both a digital pressure switch and an analog pressure sensor
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* connected to analog channel 0 to cycle the compressor. This mode is only
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* supported by the REV PH with the REV Analog Pressure Sensor connected to
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* analog channel 0.
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*
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* The compressor will turn on when \a both:
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*
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* - The digital pressure switch indicates the system is not full AND
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* - The analog pressure sensor indicates that the pressure in the system
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* is below the specified minimum pressure.
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*
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* The compressor will turn off when \a either:
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*
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* - The digital pressure switch is disconnected or indicates that the system
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* is full OR
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* - The pressure detected by the analog sensor is greater than the specified
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* maximum pressure.
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*
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* On CTRE PCM, this will enable digital control.
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*
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* @param minPressure The minimum pressure in PSI to enable compressor
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* @param maxPressure The maximum pressure in PSI to disable compressor
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* @param minPressure The minimum pressure. The compressor will turn on
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* when the pressure drops below this value and the pressure switch indicates
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* that the system is not full.
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* @param maxPressure The maximum pressure. The compressor will turn
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* off when the pressure reaches this value or the pressure switch is
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* disconnected or indicates that the system is full.
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*/
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void EnableHybrid(units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure);
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/**
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* Returns the active compressor configuration.
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*
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* @return The active compressor configuration.
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*/
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CompressorConfigType GetConfigType() const;
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void InitSendable(wpi::SendableBuilder& builder) override;
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@@ -13,23 +13,72 @@
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#include "PneumaticsBase.h"
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namespace frc {
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/** Module class for controlling a REV Robotics Pneumatic Hub. */
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class PneumaticHub : public PneumaticsBase {
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public:
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/** Constructs a PneumaticHub with the default ID (1). */
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PneumaticHub();
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/**
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* Constructs a PneumaticHub.
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*
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* @param module module number to construct
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*/
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explicit PneumaticHub(int module);
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~PneumaticHub() override = default;
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bool GetCompressor() const override;
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/**
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* Disables the compressor. The compressor will not turn on until
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* EnableCompressorDigital(), EnableCompressorAnalog(), or
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* EnableCompressorHybrid() are called.
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*/
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void DisableCompressor() override;
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void EnableCompressorDigital() override;
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/**
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* Enables the compressor in analog mode. This mode uses an analog pressure
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* sensor connected to analog channel 0 to cycle the compressor. The
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* compressor will turn on when the pressure drops below {@code minPressure}
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* and will turn off when the pressure reaches {@code maxPressure}.
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*
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* @param minPressure The minimum pressure. The compressor will turn on when
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* the pressure drops below this value.
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* @param maxPressure The maximum pressure. The compressor will turn off when
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* the pressure reaches this value.
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*/
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void EnableCompressorAnalog(
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units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure) override;
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/**
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* Enables the compressor in hybrid mode. This mode uses both a digital
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* pressure switch and an analog pressure sensor connected to analog channel 0
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* to cycle the compressor.
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*
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* The compressor will turn on when \a both:
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*
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* - The digital pressure switch indicates the system is not full AND
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* - The analog pressure sensor indicates that the pressure in the system is
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* below the specified minimum pressure.
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*
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* The compressor will turn off when \a either:
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*
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* - The digital pressure switch is disconnected or indicates that the system
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* is full OR
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* - The pressure detected by the analog sensor is greater than the specified
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* maximum pressure.
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*
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* @param minPressure The minimum pressure. The compressor will turn on when
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* the pressure drops below this value and the pressure switch indicates that
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* the system is not full.
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* @param maxPressure The maximum pressure. The compressor will turn off when
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* the pressure reaches this value or the pressure switch is disconnected or
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* indicates that the system is full.
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*/
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void EnableCompressorHybrid(
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units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure) override;
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@@ -76,6 +125,11 @@ class PneumaticHub : public PneumaticsBase {
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uint32_t UniqueId;
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};
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/**
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* Returns the hardware and firmware versions of this device.
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*
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* @return The hardware and firmware versions.
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*/
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Version GetVersion() const;
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struct Faults {
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@@ -103,6 +157,11 @@ class PneumaticHub : public PneumaticsBase {
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uint32_t HardwareFault : 1;
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};
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/**
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* Returns the faults currently active on this device.
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*
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* @return The faults.
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*/
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Faults GetFaults() const;
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struct StickyFaults {
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@@ -115,20 +174,60 @@ class PneumaticHub : public PneumaticsBase {
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uint32_t HasReset : 1;
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};
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/**
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* Returns the sticky faults currently active on this device.
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*
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* @return The sticky faults.
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*/
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StickyFaults GetStickyFaults() const;
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/** Clears the sticky faults. */
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void ClearStickyFaults();
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/**
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* Returns the current input voltage for this device.
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*
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* @return The input voltage.
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*/
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units::volt_t GetInputVoltage() const;
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/**
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* Returns the current voltage of the regulated 5v supply.
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*
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* @return The current voltage of the 5v supply.
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*/
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units::volt_t Get5VRegulatedVoltage() const;
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/**
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* Returns the total current drawn by all solenoids.
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*
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* @return Total current drawn by all solenoids.
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*/
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units::ampere_t GetSolenoidsTotalCurrent() const;
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/**
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* Returns the current voltage of the solenoid power supply.
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*
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* @return The current voltage of the solenoid power supply.
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*/
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units::volt_t GetSolenoidsVoltage() const;
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/**
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* Returns the raw voltage of the specified analog input channel.
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*
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* @param channel The analog input channel to read voltage from.
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* @return The voltage of the specified analog input channel.
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*/
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units::volt_t GetAnalogVoltage(int channel) const override;
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/**
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* Returns the pressure read by an analog pressure sensor on the specified
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* analog input channel.
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*
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* @param channel The analog input channel to read pressure from.
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* @return The pressure read by an analog pressure sensor on the specified
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* analog input channel.
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*/
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units::pounds_per_square_inch_t GetPressure(int channel) const override;
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private:
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@@ -22,50 +22,194 @@ class PneumaticsBase {
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public:
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virtual ~PneumaticsBase() = default;
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/**
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* Returns whether the compressor is active or not.
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*
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* @return True if the compressor is on - otherwise false.
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*/
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virtual bool GetCompressor() const = 0;
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/**
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* Returns the state of the pressure switch.
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*
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* @return True if pressure switch indicates that the system is full,
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* otherwise false.
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*/
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virtual bool GetPressureSwitch() const = 0;
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/**
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* Returns the current drawn by the compressor.
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*
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* @return The current drawn by the compressor.
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*/
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virtual units::ampere_t GetCompressorCurrent() const = 0;
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/** Disables the compressor. */
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virtual void DisableCompressor() = 0;
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/**
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* Enables the compressor in digital mode using the digital pressure switch.
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* The compressor will turn on when the pressure switch indicates that the
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* system is not full, and will turn off when the pressure switch indicates
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* that the system is full.
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*/
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virtual void EnableCompressorDigital() = 0;
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/**
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* If supported by the device, enables the compressor in analog mode. This
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* mode uses an analog pressure sensor connected to analog channel 0 to cycle
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* the compressor. The compressor will turn on when the pressure drops below
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* {@code minPressure} and will turn off when the pressure reaches {@code
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* maxPressure}. This mode is only supported by the REV PH with the REV Analog
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* Pressure Sensor connected to analog channel 0.
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*
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* On CTRE PCM, this will enable digital control.
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*
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* @param minPressure The minimum pressure. The compressor will turn on
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* when the pressure drops below this value.
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* @param maxPressure The maximum pressure. The compressor will turn
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* off when the pressure reaches this value.
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*/
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virtual void EnableCompressorAnalog(
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units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure) = 0;
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/**
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* If supported by the device, enables the compressor in hybrid mode. This
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* mode uses both a digital pressure switch and an analog pressure sensor
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* connected to analog channel 0 to cycle the compressor. This mode is only
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* supported by the REV PH with the REV Analog Pressure Sensor connected to
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* analog channel 0.
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*
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* The compressor will turn on when \a both:
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*
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* - The digital pressure switch indicates the system is not full AND
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* - The analog pressure sensor indicates that the pressure in the system
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* is below the specified minimum pressure.
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*
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* The compressor will turn off when \a either:
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*
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* - The digital pressure switch is disconnected or indicates that the system
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* is full OR
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* - The pressure detected by the analog sensor is greater than the specified
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* maximum pressure.
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*
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* On CTRE PCM, this will enable digital control.
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*
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* @param minPressure The minimum pressure. The compressor will turn on
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* when the pressure drops below this value and the pressure switch indicates
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* that the system is not full.
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* @param maxPressure The maximum pressure. The compressor will turn
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* off when the pressure reaches this value or the pressure switch is
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* disconnected or indicates that the system is full.
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*/
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virtual void EnableCompressorHybrid(
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units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure) = 0;
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/**
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* Returns the active compressor configuration.
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*
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* @return The active compressor configuration.
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*/
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virtual CompressorConfigType GetCompressorConfigType() const = 0;
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/**
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* Sets solenoids on a pneumatics module.
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*
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* @param mask mask
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* @param values values
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*/
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virtual void SetSolenoids(int mask, int values) = 0;
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/**
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* Gets a bitmask of solenoid values.
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*
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* @return values
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*/
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virtual int GetSolenoids() const = 0;
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/**
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* Get module number for this module.
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*
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* @return module number
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*/
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virtual int GetModuleNumber() const = 0;
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/**
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* Get a bitmask of disabled solenoids.
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*
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* @return bitmask of disabled solenoids
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*/
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virtual int GetSolenoidDisabledList() const = 0;
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/**
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* Fire a single solenoid shot.
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*
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* @param index solenoid index
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*/
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virtual void FireOneShot(int index) = 0;
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/**
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* Set the duration for a single solenoid shot.
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*
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* @param index solenoid index
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* @param duration shot duration
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*/
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virtual void SetOneShotDuration(int index, units::second_t duration) = 0;
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/**
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||||
* Check if a solenoid channel is valid.
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*
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||||
* @param channel Channel to check
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* @return True if channel exists
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*/
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virtual bool CheckSolenoidChannel(int channel) const = 0;
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/**
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* Check to see if the masked solenoids can be reserved, and if not reserve
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* them.
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*
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* @param mask The bitmask of solenoids to reserve
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* @return 0 if successful; mask of solenoids that couldn't be allocated
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* otherwise
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*/
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virtual int CheckAndReserveSolenoids(int mask) = 0;
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/**
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* Unreserve the masked solenoids.
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||||
*
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* @param mask The bitmask of solenoids to unreserve
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*/
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virtual void UnreserveSolenoids(int mask) = 0;
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virtual bool ReserveCompressor() = 0;
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||||
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virtual void UnreserveCompressor() = 0;
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||||
/**
|
||||
* If supported by the device, returns the raw voltage of the specified analog
|
||||
* input channel.
|
||||
*
|
||||
* This function is only supported by the REV PH. On CTRE PCM, this will
|
||||
* return 0.
|
||||
*
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||||
* @param channel The analog input channel to read voltage from.
|
||||
* @return The voltage of the specified analog input channel.
|
||||
*/
|
||||
virtual units::volt_t GetAnalogVoltage(int channel) const = 0;
|
||||
|
||||
/**
|
||||
* If supported by the device, returns the pressure read by an analog
|
||||
* pressure sensor on the specified analog input channel.
|
||||
*
|
||||
* This function is only supported by the REV PH. On CTRE PCM, this will
|
||||
* return 0.
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||||
*
|
||||
* @param channel The analog input channel to read pressure from.
|
||||
* @return The pressure read by an analog pressure sensor on the
|
||||
* specified analog input channel.
|
||||
*/
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||||
virtual units::pounds_per_square_inch_t GetPressure(int channel) const = 0;
|
||||
|
||||
virtual Solenoid MakeSolenoid(int channel) = 0;
|
||||
@@ -73,8 +217,22 @@ class PneumaticsBase {
|
||||
int reverseChannel) = 0;
|
||||
virtual Compressor MakeCompressor() = 0;
|
||||
|
||||
/**
|
||||
* For internal use to get a module for a specific type.
|
||||
*
|
||||
* @param module module number
|
||||
* @param moduleType module type
|
||||
* @return module
|
||||
*/
|
||||
static std::shared_ptr<PneumaticsBase> GetForType(
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||||
int module, PneumaticsModuleType moduleType);
|
||||
|
||||
/**
|
||||
* For internal use to get the default for a specific type.
|
||||
*
|
||||
* @param moduleType module type
|
||||
* @return module default
|
||||
*/
|
||||
static int GetDefaultForType(PneumaticsModuleType moduleType);
|
||||
};
|
||||
} // namespace frc
|
||||
|
||||
@@ -13,23 +13,52 @@
|
||||
#include "PneumaticsBase.h"
|
||||
|
||||
namespace frc {
|
||||
/** Module class for controlling a Cross The Road Electronics Pneumatics Control
|
||||
* Module. */
|
||||
class PneumaticsControlModule : public PneumaticsBase {
|
||||
public:
|
||||
/** Constructs a PneumaticsControlModule with the default ID (0). */
|
||||
PneumaticsControlModule();
|
||||
|
||||
/**
|
||||
* Constructs a PneumaticsControlModule.
|
||||
*
|
||||
* @param module module number to construct
|
||||
*/
|
||||
explicit PneumaticsControlModule(int module);
|
||||
|
||||
~PneumaticsControlModule() override = default;
|
||||
|
||||
bool GetCompressor() const override;
|
||||
|
||||
/**
|
||||
* Disables the compressor. The compressor will not turn on until
|
||||
* EnableCompressorDigital() is called.
|
||||
*/
|
||||
void DisableCompressor() override;
|
||||
|
||||
void EnableCompressorDigital() override;
|
||||
|
||||
/**
|
||||
* Enables the compressor in digital mode. Analog mode is unsupported by the
|
||||
* CTRE PCM.
|
||||
*
|
||||
* @param minPressure Unsupported.
|
||||
* @param maxPressure Unsupported.
|
||||
* @see EnableCompressorDigital()
|
||||
*/
|
||||
void EnableCompressorAnalog(
|
||||
units::pounds_per_square_inch_t minPressure,
|
||||
units::pounds_per_square_inch_t maxPressure) override;
|
||||
|
||||
/**
|
||||
* Enables the compressor in digital mode. Hybrid mode is unsupported by the
|
||||
* CTRE PCM.
|
||||
*
|
||||
* @param minPressure Unsupported.
|
||||
* @param maxPressure Unsupported.
|
||||
* @see EnableCompressorDigital()
|
||||
*/
|
||||
void EnableCompressorHybrid(
|
||||
units::pounds_per_square_inch_t minPressure,
|
||||
units::pounds_per_square_inch_t maxPressure) override;
|
||||
@@ -40,16 +69,67 @@ class PneumaticsControlModule : public PneumaticsBase {
|
||||
|
||||
units::ampere_t GetCompressorCurrent() const override;
|
||||
|
||||
/**
|
||||
* Return whether the compressor current is currently too high.
|
||||
*
|
||||
* @return True if the compressor current is too high, otherwise false.
|
||||
* @see GetCompressorCurrentTooHighStickyFault()
|
||||
*/
|
||||
bool GetCompressorCurrentTooHighFault() const;
|
||||
|
||||
/**
|
||||
* Returns whether the compressor current has been too high since sticky
|
||||
* faults were last cleared. This fault is persistent and can be cleared by
|
||||
* ClearAllStickyFaults()
|
||||
*
|
||||
* @return True if the compressor current has been too high since sticky
|
||||
* faults were last cleared.
|
||||
* @see GetCompressorCurrentTooHighFault()
|
||||
*/
|
||||
bool GetCompressorCurrentTooHighStickyFault() const;
|
||||
|
||||
/**
|
||||
* Returns whether the compressor is currently shorted.
|
||||
*
|
||||
* @return True if the compressor is currently shorted, otherwise false.
|
||||
* @see GetCompressorShortedStickyFault()
|
||||
*/
|
||||
bool GetCompressorShortedFault() const;
|
||||
|
||||
/**
|
||||
* Returns whether the compressor has been shorted since sticky faults were
|
||||
* last cleared. This fault is persistent and can be cleared by
|
||||
* ClearAllStickyFaults()
|
||||
*
|
||||
* @return True if the compressor has been shorted since sticky faults were
|
||||
* last cleared, otherwise false.
|
||||
* @see GetCompressorShortedFault()
|
||||
*/
|
||||
bool GetCompressorShortedStickyFault() const;
|
||||
|
||||
/**
|
||||
* Returns whether the compressor is currently disconnected.
|
||||
*
|
||||
* @return True if compressor is currently disconnected, otherwise false.
|
||||
* @see GetCompressorNotConnectedStickyFault()
|
||||
*/
|
||||
bool GetCompressorNotConnectedFault() const;
|
||||
|
||||
/**
|
||||
* Returns whether the compressor has been disconnected since sticky faults
|
||||
* were last cleared. This fault is persistent and can be cleared by
|
||||
* ClearAllStickyFaults()}
|
||||
*
|
||||
* @return True if the compressor has been disconnected since sticky faults
|
||||
* were last cleared, otherwise false.
|
||||
* @see GetCompressorNotConnectedFault()
|
||||
*/
|
||||
bool GetCompressorNotConnectedStickyFault() const;
|
||||
|
||||
bool GetSolenoidVoltageFault() const;
|
||||
bool GetSolenoidVoltageStickyFault() const;
|
||||
|
||||
/** Clears all sticky faults on this device. */
|
||||
void ClearAllStickyFaults();
|
||||
|
||||
void SetSolenoids(int mask, int values) override;
|
||||
@@ -74,8 +154,20 @@ class PneumaticsControlModule : public PneumaticsBase {
|
||||
|
||||
void UnreserveCompressor() override;
|
||||
|
||||
/**
|
||||
* Unsupported by the CTRE PCM.
|
||||
*
|
||||
* @param channel Unsupported.
|
||||
* @return 0
|
||||
*/
|
||||
units::volt_t GetAnalogVoltage(int channel) const override;
|
||||
|
||||
/**
|
||||
* Unsupported by the CTRE PCM.
|
||||
*
|
||||
* @param channel Unsupported.
|
||||
* @return 0
|
||||
*/
|
||||
units::pounds_per_square_inch_t GetPressure(int channel) const override;
|
||||
|
||||
Solenoid MakeSolenoid(int channel) override;
|
||||
|
||||
Reference in New Issue
Block a user