Support for the CAN pneumatics module in C++ and Java

Change-Id: I2ccb1d13d1c5da00a99329c761b75a6c2b3ea56d

hal/lib/Athena/Compressor.cpp

@@ -0,0 +1,72 @@
+#include "HAL/Compressor.h"
+#include "ctre/PCM.h"
+#include <iostream>
+
+static const int NUM_PCMS = 2;
+extern PCM *modules[NUM_PCMS];
+extern void initializePCM();
+
+void *initializeCompressor(uint8_t module) {
+	initializePCM();
+	
+	return modules[module - 1];
+}
+
+bool checkCompressorModule(uint8_t module) {
+	return module > 0 and module <= NUM_PCMS;
+}
+
+
+void setCompressor(void *pcm_pointer, bool value, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	
+	*status = module->SetCompressor(value);
+}
+
+
+bool getCompressor(void *pcm_pointer, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	bool value;
+	
+	*status = module->GetCompressor(value);
+	
+	return value;
+}
+
+
+void setClosedLoopControl(void *pcm_pointer, bool value, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	
+	*status = module->SetClosedLoopControl(value);
+}
+
+
+bool getClosedLoopControl(void *pcm_pointer, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	bool value;
+	
+	*status = module->GetClosedLoopControl(value);
+	
+	return value;
+}
+
+
+bool getPressureSwitch(void *pcm_pointer, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	bool value;
+	
+	*status = module->GetPressure(value);
+	
+	return value;
+}
+
+
+float getCompressorCurrent(void *pcm_pointer, int32_t *status) {
+	PCM *module = (PCM *)pcm_pointer;
+	float value;
+	
+	*status = module->GetCompressorCurrent(value);
+	
+	return value;
+}
+