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Cleanup SolenoidBase, Solenoid, and DoubleSolenoid (#271)

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This commit is contained in:
Austin Shalit
2016-10-23 17:20:28 -04:00
committed by Peter Johnson
parent 4f4c52d6d5
commit 963391cf39
3 changed files with 34 additions and 47 deletions
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53
wpilibj/src/athena/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
View File

@@ -14,11 +14,9 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.tables.ITableListener;
import edu.wpi.first.wpilibj.util.AllocationException;
import edu.wpi.first.wpilibj.util.CheckedAllocationException;
/**
* DoubleSolenoid class for running 2 channels of high voltage Digital Output.
* DoubleSolenoid class for running 2 channels of high voltage Digital Output on the PCM.
*
* <p>The DoubleSolenoid class is typically used for pneumatics solenoids that have two positions
* controlled by two separate channels.
@@ -34,15 +32,13 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
kReverse
}
private int m_forwardChannel; // /< The forward channel on the module to control.
private int m_reverseChannel; // /< The reverse channel on the module to control.
private byte m_forwardMask; // /< The mask for the forward channel.
private byte m_reverseMask; // /< The mask for the reverse channel.
private byte m_forwardMask; // The mask for the forward channel.
private byte m_reverseMask; // The mask for the reverse channel.
private int m_forwardHandle = 0;
private int m_reverseHandle = 0;
/**
* Constructor. Uses the default PCM ID of 0.
* Constructor. Uses the default PCM ID (defaults to 0).
*
* @param forwardChannel The forward channel number on the PCM (0..7).
* @param reverseChannel The reverse channel number on the PCM (0..7).
@@ -61,18 +57,16 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
public DoubleSolenoid(final int moduleNumber, final int forwardChannel,
final int reverseChannel) {
super(moduleNumber);
m_forwardChannel = forwardChannel;
m_reverseChannel = reverseChannel;
checkSolenoidModule(m_moduleNumber);
checkSolenoidChannel(m_forwardChannel);
checkSolenoidChannel(m_reverseChannel);
checkSolenoidChannel(forwardChannel);
checkSolenoidChannel(reverseChannel);
int portHandle = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) m_forwardChannel);
int portHandle = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) forwardChannel);
m_forwardHandle = SolenoidJNI.initializeSolenoidPort(portHandle);
try {
portHandle = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) m_reverseChannel);
portHandle = SolenoidJNI.getPortWithModule((byte) m_moduleNumber, (byte) reverseChannel);
m_reverseHandle = SolenoidJNI.initializeSolenoidPort(portHandle);
} catch (RuntimeException ex) {
// free the forward handle on exception, then rethrow
@@ -82,14 +76,14 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
throw ex;
}
m_forwardMask = (byte) (1 << m_forwardChannel);
m_reverseMask = (byte) (1 << m_reverseChannel);
m_forwardMask = (byte) (1 << forwardChannel);
m_reverseMask = (byte) (1 << reverseChannel);
HAL.report(tResourceType.kResourceType_Solenoid, m_forwardChannel,
HAL.report(tResourceType.kResourceType_Solenoid, forwardChannel,
m_moduleNumber);
HAL.report(tResourceType.kResourceType_Solenoid, m_reverseChannel,
HAL.report(tResourceType.kResourceType_Solenoid, reverseChannel,
m_moduleNumber);
LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, m_forwardChannel, this);
LiveWindow.addActuator("DoubleSolenoid", m_moduleNumber, forwardChannel, this);
}
/**
@@ -198,25 +192,20 @@ public class DoubleSolenoid extends SolenoidBase implements LiveWindowSendable {
@Override
public void updateTable() {
if (m_table != null) {
// TODO: this is bad
m_table.putString("Value", (get() == Value.kForward ? "Forward"
: (get() == Value.kReverse ? "Reverse" : "Off")));
m_table.putString("Value", get().name().substring(1));
}
}
@Override
public void startLiveWindowMode() {
set(Value.kOff); // Stop for safety
m_tableListener = new ITableListener() {
public void valueChanged(ITable itable, String key, Object value, boolean bln) {
// TODO: this is bad also
if (value.toString().equals("Reverse")) {
set(Value.kReverse);
} else if (value.toString().equals("Forward")) {
set(Value.kForward);
} else {
set(Value.kOff);
}
m_tableListener = (source, key, value, isNew) -> {
if ("Reverse".equals(value.toString())) {
set(Value.kReverse);
} else if ("Forward".equals(value.toString())) {
set(Value.kForward);
} else {
set(Value.kOff);
}
};
m_table.addTableListener("Value", m_tableListener, true);

19
wpilibj/src/athena/java/edu/wpi/first/wpilibj/Solenoid.java
View File

@@ -14,22 +14,20 @@ import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.livewindow.LiveWindowSendable;
import edu.wpi.first.wpilibj.tables.ITable;
import edu.wpi.first.wpilibj.tables.ITableListener;
import edu.wpi.first.wpilibj.util.AllocationException;
import edu.wpi.first.wpilibj.util.CheckedAllocationException;
/**
* Solenoid class for running high voltage Digital Output.
* Solenoid class for running high voltage Digital Output on the PCM.
*
* <p>The Solenoid class is typically used for pneumatics solenoids, but could be used for any
* <p>The Solenoid class is typically used for pneumatic solenoids, but could be used for any
* device within the current spec of the PCM.
*/
public class Solenoid extends SolenoidBase implements LiveWindowSendable {
private final int m_channel; // /< The channel to control.
private final int m_channel; // The channel to control.
private int m_solenoidHandle;
/**
* Constructor using the default PCM ID (0)
* Constructor using the default PCM ID (defaults to 0).
*
* @param channel The channel on the PCM to control (0..7).
*/
@@ -72,7 +70,7 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
/**
* Set the value of a solenoid.
*
* @param on Turn the solenoid output off or on.
* @param on True will turn the solenoid output on. False will turn the solenoid output off.
*/
public void set(boolean on) {
SolenoidJNI.setSolenoid(m_solenoidHandle, on);
@@ -81,7 +79,7 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
/**
* Read the current value of the solenoid.
*
* @return The current value of the solenoid.
* @return True if the solenoid output is on or false if the solenoid output is off.
*/
public boolean get() {
return SolenoidJNI.getSolenoid(m_solenoidHandle);
@@ -96,7 +94,7 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
*/
public boolean isBlackListed() {
int value = getPCMSolenoidBlackList() & (1 << m_channel);
return (value != 0);
return value != 0;
}
/*
@@ -127,11 +125,10 @@ public class Solenoid extends SolenoidBase implements LiveWindowSendable {
}
}
@Override
public void startLiveWindowMode() {
set(false); // Stop for safety
m_tableListener = (itable, key, value, bln) -> set((Boolean) value);
m_tableListener = (source, key, value, isNew) -> set((Boolean) value);
m_table.addTableListener("Value", m_tableListener, true);
}

9
wpilibj/src/athena/java/edu/wpi/first/wpilibj/SolenoidBase.java
View File

@@ -10,11 +10,12 @@ package edu.wpi.first.wpilibj;
import edu.wpi.first.wpilibj.hal.SolenoidJNI;
/**
* SolenoidBase class is the common base class for the Solenoid and DoubleSolenoid classes.
* SolenoidBase class is the common base class for the {@link Solenoid} and {@link DoubleSolenoid}
* classes.
*/
public abstract class SolenoidBase extends SensorBase {
protected final byte m_moduleNumber; // /< The number of the solenoid module being
// used.
protected final byte m_moduleNumber; // The number of the solenoid module being used.
/**
* Constructor.
@@ -22,7 +23,7 @@ public abstract class SolenoidBase extends SensorBase {
* @param moduleNumber The PCM CAN ID
*/
public SolenoidBase(final int moduleNumber) {
m_moduleNumber = (byte)moduleNumber;
m_moduleNumber = (byte) moduleNumber;
}
/**