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[wpilib] Add Toggle() function to solenoid classes (#2635)

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Toggling a solenoid on a button press is a common idiom, so this
provides a more readable way of accomplishing that.
This commit is contained in:
Tyler Veness
2020-08-15 08:16:32 -07:00
committed by GitHub
parent 370e9d089f
commit c2259d42a8
6 changed files with 76 additions and 11 deletions
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24
wpilibj/src/main/java/edu/wpi/first/wpilibj/DoubleSolenoid.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -133,11 +133,27 @@ public class DoubleSolenoid extends SolenoidBase implements Sendable, AutoClosea
if (valueForward) {
return Value.kForward;
}
if (valueReverse) {
} else if (valueReverse) {
return Value.kReverse;
} else {
return Value.kOff;
}
}
/**
* Toggle the value of the solenoid.
*
* <p>If the solenoid is set to forward, it'll be set to reverse. If the solenoid is set to
* reverse, it'll be set to forward. If the solenoid is set to off, nothing happens.
*/
public void toggle() {
Value value = get();
if (value == Value.kForward) {
set(Value.kReverse);
} else if (value == Value.kReverse) {
set(Value.kForward);
}
return Value.kOff;
}
/**

12
wpilibj/src/main/java/edu/wpi/first/wpilibj/Solenoid.java
View File

@@ -1,5 +1,5 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2008-2019 FIRST. All Rights Reserved. */
/* Copyright (c) 2008-2020 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
@@ -77,6 +77,16 @@ public class Solenoid extends SolenoidBase implements Sendable, AutoCloseable {
return SolenoidJNI.getSolenoid(m_solenoidHandle);
}
/**
* Toggle the value of the solenoid.
*
* <p>If the solenoid is set to on, it'll be turned off. If the solenoid is set to off, it'll be
* turned on.
*/
public void toggle() {
set(!get());
}
/**
* Check if solenoid is blacklisted. If a solenoid is shorted, it is added to the blacklist and
* disabled until power cycle, or until faults are cleared.