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[hal, wpilib] Incorporate pneumatic control type into wpilibc/j (#3728)

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This commit is contained in:
Thad House
2021-11-23 20:32:02 -08:00
committed by GitHub
parent 9aba2b7583
commit b156db400d
35 changed files with 693 additions and 216 deletions
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24
hal/src/main/java/edu/wpi/first/hal/REVPHJNI.java
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@@ -6,6 +6,11 @@ package edu.wpi.first.hal;
@SuppressWarnings("AbbreviationAsWordInName")
public class REVPHJNI extends JNIWrapper {
public static final int COMPRESSOR_CONFIG_TYPE_DISABLED = 0;
public static final int COMPRESSOR_CONFIG_TYPE_DIGITAL = 1;
public static final int COMPRESSOR_CONFIG_TYPE_ANALOG = 2;
public static final int COMPRESSOR_CONFIG_TYPE_HYBRID = 3;
public static native int initialize(int module);
public static native void free(int handle);
@@ -14,9 +19,24 @@ public class REVPHJNI extends JNIWrapper {
public static native boolean getCompressor(int handle);
public static native void setClosedLoopControl(int handle, boolean enabled);
public static native void setCompressorConfig(
int handle,
double minAnalogVoltage,
double maxAnalogVoltage,
boolean forceDisable,
boolean useDigital);
public static native boolean getClosedLoopControl(int handle);
public static native void setClosedLoopControlDisabled(int handle);
public static native void setClosedLoopControlDigital(int handle);
public static native void setClosedLoopControlAnalog(
int handle, double minAnalogVoltage, double maxAnalogVoltage);
public static native void setClosedLoopControlHybrid(
int handle, double minAnalogVoltage, double maxAnalogVoltage);
public static native int getCompressorConfig(int handle);
public static native boolean getPressureSwitch(int handle);

8
hal/src/main/java/edu/wpi/first/hal/simulation/REVPHDataJNI.java
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@@ -35,14 +35,14 @@ public class REVPHDataJNI extends JNIWrapper {
public static native void setCompressorOn(int index, boolean compressorOn);
public static native int registerClosedLoopEnabledCallback(
public static native int registerCompressorConfigTypeCallback(
int index, NotifyCallback callback, boolean initialNotify);
public static native void cancelClosedLoopEnabledCallback(int index, int uid);
public static native void cancelCompressorConfigTypeCallback(int index, int uid);
public static native boolean getClosedLoopEnabled(int index);
public static native int getCompressorConfigType(int index);
public static native void setClosedLoopEnabled(int index, boolean closeLoopEnabled);
public static native void setCompressorConfigType(int index, int configType);
public static native int registerPressureSwitchCallback(
int index, NotifyCallback callback, boolean initialNotify);