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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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32
wpilibc/src/main/native/cpp/PneumaticHub.cpp
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@@ -80,17 +80,39 @@ bool PneumaticHub::GetCompressor() const {
return result;
}
void PneumaticHub::SetClosedLoopControl(bool enabled) {
void PneumaticHub::DisableCompressor() {
int32_t status = 0;
HAL_SetREVPHClosedLoopControl(m_handle, enabled, &status);
HAL_SetREVPHClosedLoopControlDisabled(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
}
bool PneumaticHub::GetClosedLoopControl() const {
void PneumaticHub::EnableCompressorDigital() {
int32_t status = 0;
auto result = HAL_GetREVPHClosedLoopControl(m_handle, &status);
HAL_SetREVPHClosedLoopControlDigital(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return result;
}
void PneumaticHub::EnableCompressorAnalog(double minAnalogVoltage,
double maxAnalogVoltage) {
int32_t status = 0;
HAL_SetREVPHClosedLoopControlAnalog(m_handle, minAnalogVoltage,
maxAnalogVoltage, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
}
void PneumaticHub::EnableCompressorHybrid(double minAnalogVoltage,
double maxAnalogVoltage) {
int32_t status = 0;
HAL_SetREVPHClosedLoopControlHybrid(m_handle, minAnalogVoltage,
maxAnalogVoltage, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
}
CompressorConfigType PneumaticHub::GetCompressorConfigType() const {
int32_t status = 0;
auto result = HAL_GetREVPHCompressorConfig(m_handle, &status);
FRC_CheckErrorStatus(status, "Module {}", m_module);
return static_cast<CompressorConfigType>(result);
}
bool PneumaticHub::GetPressureSwitch() const {