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[wpilib] Make solenoids exclusive use, PCM act like old sendable compressor (#3464)

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This commit is contained in:
Thad House
2021-07-09 15:11:12 -07:00
committed by GitHub
parent 6ddef1cca6
commit c154e5262e
9 changed files with 166 additions and 8 deletions
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8
wpilibc/src/main/native/cpp/Solenoid.cpp
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@@ -34,13 +34,19 @@ Solenoid::Solenoid(std::shared_ptr<PneumaticsBase> module, int channel)
m_channel = channel;
m_mask = 1 << channel;
if (m_module->CheckAndReserveSolenoids(m_mask) != 0) {
throw FRC_MakeError(err::ResourceAlreadyAllocated, "Channel {}", m_channel);
}
HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
m_module->GetModuleNumber() + 1);
wpi::SendableRegistry::AddLW(this, "Solenoid", m_module->GetModuleNumber(),
m_channel);
}
Solenoid::~Solenoid() {}
Solenoid::~Solenoid() {
m_module->UnreserveSolenoids(m_mask);
}
void Solenoid::Set(bool on) {
int value = on ? (0xFFFF & m_mask) : 0;