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Switches Solenoids to Handles (#126)

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This commit is contained in:
Thad House
2016-07-02 09:24:54 -07:00
committed by Peter Johnson
parent 62c217cd01
commit 8c4ad62422
15 changed files with 257 additions and 255 deletions
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40
wpilibc/athena/src/SolenoidBase.cpp
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@@ -9,40 +9,13 @@
#include "HAL/HAL.h"
void* SolenoidBase::m_ports[m_maxModules][m_maxPorts];
std::unique_ptr<Resource> SolenoidBase::m_allocated;
/**
* Constructor
*
* @param moduleNumber The CAN PCM ID.
*/
SolenoidBase::SolenoidBase(uint8_t moduleNumber)
: m_moduleNumber(moduleNumber) {
for (uint32_t i = 0; i < kSolenoidChannels; i++) {
HalPortHandle port = getPortWithModule(moduleNumber, i);
int32_t status = 0;
SolenoidBase::m_ports[moduleNumber][i] =
initializeSolenoidPort(port, &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
}
/**
* Set the value of a solenoid.
*
* @param value The value you want to set on the module.
* @param mask The channels you want to be affected.
*/
void SolenoidBase::Set(uint8_t value, uint8_t mask, int module) {
int32_t status = 0;
for (int i = 0; i < m_maxPorts; i++) {
uint8_t local_mask = 1 << i;
if (mask & local_mask)
setSolenoid(m_ports[module][i], value & local_mask, &status);
}
wpi_setErrorWithContext(status, getHALErrorMessage(status));
}
: m_moduleNumber(moduleNumber) {}
/**
* Read all 8 solenoids as a single byte
@@ -52,7 +25,7 @@ void SolenoidBase::Set(uint8_t value, uint8_t mask, int module) {
uint8_t SolenoidBase::GetAll(int module) const {
uint8_t value = 0;
int32_t status = 0;
value = getAllSolenoids(m_ports[module][0], &status);
value = getAllSolenoids(static_cast<uint8_t>(module), &status);
wpi_setErrorWithContext(status, getHALErrorMessage(status));
return value;
}
@@ -68,7 +41,7 @@ uint8_t SolenoidBase::GetAll(int module) const {
*/
uint8_t SolenoidBase::GetPCMSolenoidBlackList(int module) const {
int32_t status = 0;
return getPCMSolenoidBlackList(m_ports[module][0], &status);
return getPCMSolenoidBlackList(static_cast<uint8_t>(module), &status);
}
/**
@@ -77,7 +50,8 @@ uint8_t SolenoidBase::GetPCMSolenoidBlackList(int module) const {
*/
bool SolenoidBase::GetPCMSolenoidVoltageStickyFault(int module) const {
int32_t status = 0;
return getPCMSolenoidVoltageStickyFault(m_ports[module][0], &status);
return getPCMSolenoidVoltageStickyFault(static_cast<uint8_t>(module),
&status);
}
/**
@@ -86,7 +60,7 @@ bool SolenoidBase::GetPCMSolenoidVoltageStickyFault(int module) const {
*/
bool SolenoidBase::GetPCMSolenoidVoltageFault(int module) const {
int32_t status = 0;
return getPCMSolenoidVoltageFault(m_ports[module][0], &status);
return getPCMSolenoidVoltageFault(static_cast<uint8_t>(module), &status);
}
/**
@@ -101,5 +75,5 @@ bool SolenoidBase::GetPCMSolenoidVoltageFault(int module) const {
*/
void SolenoidBase::ClearAllPCMStickyFaults(int module) {
int32_t status = 0;
return clearAllPCMStickyFaults_sol(m_ports[module][0], &status);
return clearAllPCMStickyFaults_sol(static_cast<uint8_t>(module), &status);
}