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

Change-Id: I2ccb1d13d1c5da00a99329c761b75a6c2b3ea56d

wpilibc/lib/PCMCompressor.cpp

@@ -0,0 +1,176 @@
+/*
+ * PCMCompressor.cpp
+ */
+
+#include "PCMCompressor.h"
+#include "WPIErrors.h"
+
+void PCMCompressor::InitCompressor(uint8_t module) {
+	m_table = 0;
+	m_pcm_pointer = initializeCompressor(module);
+
+	SetClosedLoopControl(true);
+}
+
+/**
+ * Constructor
+ *
+ * Uses the default solenoid module number
+ */
+PCMCompressor::PCMCompressor() {
+	InitCompressor(GetDefaultSolenoidModule());
+}
+
+/**
+ * Constructor
+ *
+ * @param module The module number to use (1 or 2)
+ */
+PCMCompressor::PCMCompressor(uint8_t module) {
+	InitCompressor(module);
+}
+
+PCMCompressor::~PCMCompressor() {
+
+}
+
+/**
+ *  Starts the compressor and disables automatic closed-loop control
+ */
+void PCMCompressor::Start() {
+	SetClosedLoopControl(false);
+	SetCompressor(true);
+}
+
+/**
+ *  Stops the compressor and disables automatic closed-loop control
+ */
+void PCMCompressor::Stop() {
+	SetClosedLoopControl(false);
+	SetCompressor(false);
+}
+
+void PCMCompressor::SetCompressor(bool on) {
+	int32_t status = 0;
+
+	setCompressor(m_pcm_pointer, on, &status);
+
+	if(status) {
+		wpi_setWPIError(Timeout);
+	}
+}
+
+
+/**
+ * @return true if the compressor is on
+ */
+bool PCMCompressor::Enabled() {
+	int32_t status = 0;
+	bool value;
+
+	value = getCompressor(m_pcm_pointer, &status);
+
+	if(status) {
+		wpi_setWPIError(Timeout);
+	}
+
+	return value;
+}
+
+/**
+ * @return true if pressure is low
+ */
+bool PCMCompressor::GetPressureSwitchValue() {
+	int32_t status = 0;
+	bool value;
+
+	value = getPressureSwitch(m_pcm_pointer, &status);
+
+	if(status) {
+		wpi_setWPIError(Timeout);
+	}
+
+	return value;
+}
+
+
+/**
+ * @return The current through the compressor, in amps
+ */
+float PCMCompressor::GetCompressorCurrent() {
+	int32_t status = 0;
+	float value;
+
+	value = getCompressorCurrent(m_pcm_pointer, &status);
+
+	if(status) {
+		wpi_setWPIError(Timeout);
+	}
+
+	return value;
+}
+
+
+/**
+ * Enables or disables automatically turning the compressor on when the
+ * pressure is low.
+ */
+void PCMCompressor::SetClosedLoopControl(bool on) {
+	int32_t status = 0;
+
+	setClosedLoopControl(m_pcm_pointer, on, &status);
+
+	if(status) {
+		wpi_setWPIError(Timeout);
+	}
+}
+
+/**
+ * Returns true if the compressor will automatically turn on when the
+ * pressure is low.
+ */
+bool PCMCompressor::GetClosedLoopControl() {
+	int32_t status = 0;
+	bool value;
+
+	value = getClosedLoopControl(m_pcm_pointer, &status);
+
+	if(status) {
+		wpi_setWPIError(Timeout);
+	}
+
+	return value;
+}
+
+void PCMCompressor::UpdateTable() {
+	if(m_table) {
+		m_table->PutBoolean("Enabled", Enabled());
+		m_table->PutBoolean("Pressure switch", GetPressureSwitchValue());
+	}
+}
+
+void PCMCompressor::StartLiveWindowMode() {
+}
+
+void PCMCompressor::StopLiveWindowMode() {
+}
+
+std::string PCMCompressor::GetSmartDashboardType() {
+	return "PCMCompressor";
+}
+
+void PCMCompressor::InitTable(ITable *subTable) {
+	m_table = subTable;
+	UpdateTable();
+}
+
+ITable *PCMCompressor::GetTable() {
+	return m_table;
+}
+
+void PCMCompressor::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
+	if(value.b) Start();
+	else Stop();
+
+}
+