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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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44
hal/src/main/native/athena/REVPH.cpp
View File

@@ -258,18 +258,8 @@ HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status) {
return status0.compressor_on;
}
void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
int32_t* status) {
// TODO
}
HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle,
int32_t* status) {
return false; // TODO
}
void HAL_SetREVPHCompressorConfig(HAL_REVPHHandle handle,
HAL_REVPHCompressorConfig config,
const HAL_REVPHCompressorConfig* config,
int32_t* status) {
auto ph = REVPHHandles->Get(handle);
if (ph == nullptr) {
@@ -278,10 +268,14 @@ void HAL_SetREVPHCompressorConfig(HAL_REVPHHandle handle,
}
PH_compressor_config_t frameData;
frameData.minimum_tank_pressure = config.minAnalogVoltage;
frameData.maximum_tank_pressure = config.maxAnalogVoltage;
frameData.force_disable = config.forceDisable;
frameData.use_digital = config.useDigital;
frameData.minimum_tank_pressure =
PH_compressor_config_minimum_tank_pressure_encode(
config->minAnalogVoltage);
frameData.maximum_tank_pressure =
PH_compressor_config_maximum_tank_pressure_encode(
config->maxAnalogVoltage);
frameData.force_disable = config->forceDisable;
frameData.use_digital = config->useDigital;
uint8_t packedData[PH_COMPRESSOR_CONFIG_LENGTH] = {0};
PH_compressor_config_pack(packedData, &frameData,
@@ -295,7 +289,7 @@ void HAL_SetREVPHClosedLoopControlDisabled(HAL_REVPHHandle handle,
HAL_REVPHCompressorConfig config = {0, 0, 0, 0};
config.forceDisable = true;
HAL_SetREVPHCompressorConfig(handle, config, status);
HAL_SetREVPHCompressorConfig(handle, &config, status);
}
void HAL_SetREVPHClosedLoopControlDigital(HAL_REVPHHandle handle,
@@ -303,7 +297,7 @@ void HAL_SetREVPHClosedLoopControlDigital(HAL_REVPHHandle handle,
HAL_REVPHCompressorConfig config = {0, 0, 0, 0};
config.useDigital = true;
HAL_SetREVPHCompressorConfig(handle, config, status);
HAL_SetREVPHCompressorConfig(handle, &config, status);
}
void HAL_SetREVPHClosedLoopControlAnalog(HAL_REVPHHandle handle,
@@ -311,12 +305,10 @@ void HAL_SetREVPHClosedLoopControlAnalog(HAL_REVPHHandle handle,
double maxAnalogVoltage,
int32_t* status) {
HAL_REVPHCompressorConfig config = {0, 0, 0, 0};
config.minAnalogVoltage =
PH_compressor_config_minimum_tank_pressure_encode(minAnalogVoltage);
config.maxAnalogVoltage =
PH_compressor_config_maximum_tank_pressure_encode(maxAnalogVoltage);
config.minAnalogVoltage = minAnalogVoltage;
config.maxAnalogVoltage = maxAnalogVoltage;
HAL_SetREVPHCompressorConfig(handle, config, status);
HAL_SetREVPHCompressorConfig(handle, &config, status);
}
void HAL_SetREVPHClosedLoopControlHybrid(HAL_REVPHHandle handle,
@@ -324,13 +316,11 @@ void HAL_SetREVPHClosedLoopControlHybrid(HAL_REVPHHandle handle,
double maxAnalogVoltage,
int32_t* status) {
HAL_REVPHCompressorConfig config = {0, 0, 0, 0};
config.minAnalogVoltage =
PH_compressor_config_minimum_tank_pressure_encode(minAnalogVoltage);
config.maxAnalogVoltage =
PH_compressor_config_maximum_tank_pressure_encode(maxAnalogVoltage);
config.minAnalogVoltage = minAnalogVoltage;
config.maxAnalogVoltage = maxAnalogVoltage;
config.useDigital = true;
HAL_SetREVPHCompressorConfig(handle, config, status);
HAL_SetREVPHCompressorConfig(handle, &config, status);
}
HAL_REVPHCompressorConfigType HAL_GetREVPHCompressorConfig(

3
hal/src/main/native/athena/mockdata/REVPHData.cpp
View File

@@ -15,7 +15,8 @@ void HALSIM_ResetREVPHData(int32_t index) {}
HAL_SIMDATAVALUE_STUB_CAPI_CHANNEL(HAL_Bool, HALSIM, REVPHSolenoidOutput, false)
DEFINE_CAPI(HAL_Bool, Initialized, false)
DEFINE_CAPI(HAL_Bool, CompressorOn, false)
DEFINE_CAPI(HAL_Bool, ClosedLoopEnabled, false)
DEFINE_CAPI(HAL_REVPHCompressorConfigType, CompressorConfigType,
HAL_REVPHCompressorConfigType_kDisabled)
DEFINE_CAPI(HAL_Bool, PressureSwitch, false)
DEFINE_CAPI(double, CompressorCurrent, 0)