Team2890/allwpilib
4
0
Fork 0
mirror of https://github.com/wpilibsuite/allwpilib synced 2026-06-20 00:51:42 +00:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

68
hal/src/main/native/sim/REVPH.cpp
View File

@@ -64,7 +64,8 @@ HAL_REVPHHandle HAL_InitializeREVPH(int32_t module,
SimREVPHData[module].initialized = true;
// Enable closed loop
SimREVPHData[module].closedLoopEnabled = true;
SimREVPHData[module].compressorConfigType =
HAL_REVPHCompressorConfigType_kDigital;
return handle;
}
@@ -97,26 +98,73 @@ HAL_Bool HAL_GetREVPHCompressor(HAL_REVPHHandle handle, int32_t* status) {
return SimREVPHData[pcm->module].compressorOn;
}
void HAL_SetREVPHClosedLoopControl(HAL_REVPHHandle handle, HAL_Bool enabled,
int32_t* status) {
void HAL_SetREVPHCompressorConfig(HAL_REVPHHandle handle,
const HAL_REVPHCompressorConfig* config,
int32_t* status) {
auto pcm = pcmHandles->Get(handle);
if (pcm == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimREVPHData[pcm->module].closedLoopEnabled = enabled;
// TODO
// SimREVPHData[pcm->module].compressorConfigType = config.
}
HAL_Bool HAL_GetREVPHClosedLoopControl(HAL_REVPHHandle handle,
int32_t* status) {
void HAL_SetREVPHClosedLoopControlDisabled(HAL_REVPHHandle handle,
int32_t* status) {
auto pcm = pcmHandles->Get(handle);
if (pcm == nullptr) {
*status = HAL_HANDLE_ERROR;
return false;
return;
}
SimREVPHData[pcm->module].compressorConfigType =
HAL_REVPHCompressorConfigType_kDisabled;
}
return SimREVPHData[pcm->module].closedLoopEnabled;
void HAL_SetREVPHClosedLoopControlDigital(HAL_REVPHHandle handle,
int32_t* status) {
auto pcm = pcmHandles->Get(handle);
if (pcm == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimREVPHData[pcm->module].compressorConfigType =
HAL_REVPHCompressorConfigType_kDigital;
}
void HAL_SetREVPHClosedLoopControlAnalog(HAL_REVPHHandle handle,
double minAnalogVoltage,
double maxAnalogVoltage,
int32_t* status) {
auto pcm = pcmHandles->Get(handle);
if (pcm == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimREVPHData[pcm->module].compressorConfigType =
HAL_REVPHCompressorConfigType_kAnalog;
}
void HAL_SetREVPHClosedLoopControlHybrid(HAL_REVPHHandle handle,
double minAnalogVoltage,
double maxAnalogVoltage,
int32_t* status) {
auto pcm = pcmHandles->Get(handle);
if (pcm == nullptr) {
*status = HAL_HANDLE_ERROR;
return;
}
SimREVPHData[pcm->module].compressorConfigType =
HAL_REVPHCompressorConfigType_kHybrid;
}
HAL_REVPHCompressorConfigType HAL_GetREVPHCompressorConfig(
HAL_REVPHHandle handle, int32_t* status) {
auto pcm = pcmHandles->Get(handle);
if (pcm == nullptr) {
*status = HAL_HANDLE_ERROR;
return HAL_REVPHCompressorConfigType_kDisabled;
}
return SimREVPHData[pcm->module].compressorConfigType;
}
HAL_Bool HAL_GetREVPHPressureSwitch(HAL_REVPHHandle handle, int32_t* status) {