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Optimize Solenoid Gets. Fixes artf4730.

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Implement GetAllSolenoids in the HAL so that SolenoidBase doesn't have to
read each solenoid individually.

Change-Id: I85559565949f7a7119ead410187235636a63f0ed
This commit is contained in:
Joe Ross
2015-11-15 10:46:18 -08:00
committed by Brad Miller (WPI)
parent 84ca2ab0f5
commit 906fe65e39
8 changed files with 53 additions and 10 deletions
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16
hal/lib/Athena/ctre/PCM.cpp
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@@ -4,7 +4,7 @@
#include "FRC_NetworkCommunication/CANSessionMux.h"
#include <string.h> // memset
#include <unistd.h> // usleep
/* This can be a constant, as long as nobody needs to updatie solenoids within
/* This can be a constant, as long as nobody needs to update solenoids within
1/50 of a second. */
static const INT32 kCANPeriod = 20;
@@ -238,6 +238,17 @@ CTR_Code PCM::GetSolenoid(UINT8 idx, bool &status)
return rx.err;
}
/* Get solenoid state for all solenoids on the PCM
*
* @Return - Bitfield of solenoid states
*/
CTR_Code PCM::GetAllSolenoids(UINT8 &status)
{
GET_PCM_STATUS();
status = rx->SolenoidBits;
return rx.err;
}
/* Get pressure switch state
*
* @Return - True/False - True if pressure adequate, false if low
@@ -467,6 +478,9 @@ extern "C" {
*status = bstatus;
return retval;
}
CTR_Code c_GetAllSolenoids(void * handle, UINT8 * status) {
return ((PCM*) handle)->GetAllSolenoids(*status);
}
CTR_Code c_GetPressure(void * handle, INT8 * status) {
bool bstatus;
CTR_Code retval = ((PCM*) handle)->GetPressure(bstatus);