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[wpilib] Add/update documentation to PneumaticBase and subclasses (NFC) (#4881)

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Co-authored-by: Starlight220 <53231611+Starlight220@users.noreply.github.com>
This commit is contained in:
Ryan Blue
2023-01-02 13:23:59 -05:00
committed by GitHub
parent 9872e676d8
commit 83f1860047
8 changed files with 722 additions and 47 deletions
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99
wpilibc/src/main/native/include/frc/PneumaticHub.h
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@@ -13,23 +13,72 @@
#include "PneumaticsBase.h"
namespace frc {
/** Module class for controlling a REV Robotics Pneumatic Hub. */
class PneumaticHub : public PneumaticsBase {
public:
/** Constructs a PneumaticHub with the default ID (1). */
PneumaticHub();
/**
* Constructs a PneumaticHub.
*
* @param module module number to construct
*/
explicit PneumaticHub(int module);
~PneumaticHub() override = default;
bool GetCompressor() const override;
/**
* Disables the compressor. The compressor will not turn on until
* EnableCompressorDigital(), EnableCompressorAnalog(), or
* EnableCompressorHybrid() are called.
*/
void DisableCompressor() override;
void EnableCompressorDigital() override;
/**
* Enables the compressor in analog mode. This mode uses an analog pressure
* sensor connected to analog channel 0 to cycle the compressor. The
* compressor will turn on when the pressure drops below {@code minPressure}
* and will turn off when the pressure reaches {@code maxPressure}.
*
* @param minPressure The minimum pressure. The compressor will turn on when
* the pressure drops below this value.
* @param maxPressure The maximum pressure. The compressor will turn off when
* the pressure reaches this value.
*/
void EnableCompressorAnalog(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) override;
/**
* Enables the compressor in hybrid mode. This mode uses both a digital
* pressure switch and an analog pressure sensor connected to analog channel 0
* to cycle the compressor.
*
* The compressor will turn on when \a both:
*
* - The digital pressure switch indicates the system is not full AND
* - The analog pressure sensor indicates that the pressure in the system is
* below the specified minimum pressure.
*
* The compressor will turn off when \a either:
*
* - The digital pressure switch is disconnected or indicates that the system
* is full OR
* - The pressure detected by the analog sensor is greater than the specified
* maximum pressure.
*
* @param minPressure The minimum pressure. The compressor will turn on when
* the pressure drops below this value and the pressure switch indicates that
* the system is not full.
* @param maxPressure The maximum pressure. The compressor will turn off when
* the pressure reaches this value or the pressure switch is disconnected or
* indicates that the system is full.
*/
void EnableCompressorHybrid(
units::pounds_per_square_inch_t minPressure,
units::pounds_per_square_inch_t maxPressure) override;
@@ -76,6 +125,11 @@ class PneumaticHub : public PneumaticsBase {
uint32_t UniqueId;
};
/**
* Returns the hardware and firmware versions of this device.
*
* @return The hardware and firmware versions.
*/
Version GetVersion() const;
struct Faults {
@@ -103,6 +157,11 @@ class PneumaticHub : public PneumaticsBase {
uint32_t HardwareFault : 1;
};
/**
* Returns the faults currently active on this device.
*
* @return The faults.
*/
Faults GetFaults() const;
struct StickyFaults {
@@ -115,20 +174,60 @@ class PneumaticHub : public PneumaticsBase {
uint32_t HasReset : 1;
};
/**
* Returns the sticky faults currently active on this device.
*
* @return The sticky faults.
*/
StickyFaults GetStickyFaults() const;
/** Clears the sticky faults. */
void ClearStickyFaults();
/**
* Returns the current input voltage for this device.
*
* @return The input voltage.
*/
units::volt_t GetInputVoltage() const;
/**
* Returns the current voltage of the regulated 5v supply.
*
* @return The current voltage of the 5v supply.
*/
units::volt_t Get5VRegulatedVoltage() const;
/**
* Returns the total current drawn by all solenoids.
*
* @return Total current drawn by all solenoids.
*/
units::ampere_t GetSolenoidsTotalCurrent() const;
/**
* Returns the current voltage of the solenoid power supply.
*
* @return The current voltage of the solenoid power supply.
*/
units::volt_t GetSolenoidsVoltage() const;
/**
* Returns the raw voltage of the specified analog input channel.
*
* @param channel The analog input channel to read voltage from.
* @return The voltage of the specified analog input channel.
*/
units::volt_t GetAnalogVoltage(int channel) const override;
/**
* Returns the pressure read by an analog pressure sensor on the specified
* analog input channel.
*
* @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.
*/
units::pounds_per_square_inch_t GetPressure(int channel) const override;
private: