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wpilibj/src/main/java/org/wpilib/simulation/DoubleSolenoidSim.java

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+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package edu.wpi.first.wpilibj.simulation;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsBase;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+
+/** Class to control a simulated {@link edu.wpi.first.wpilibj.DoubleSolenoid}. */
+public class DoubleSolenoidSim {
+  private final PneumaticsBaseSim m_module;
+  private final int m_fwd;
+  private final int m_rev;
+
+  /**
+   * Constructs for a solenoid on the given pneumatics module.
+   *
+   * @param moduleSim the PCM the solenoid is connected to.
+   * @param fwd the forward solenoid channel.
+   * @param rev the reverse solenoid channel.
+   */
+  public DoubleSolenoidSim(PneumaticsBaseSim moduleSim, int fwd, int rev) {
+    m_module = moduleSim;
+    m_fwd = fwd;
+    m_rev = rev;
+  }
+
+  /**
+   * Constructs for a solenoid on a pneumatics module of the given type and ID.
+   *
+   * @param module the CAN ID of the pneumatics module the solenoid is connected to.
+   * @param moduleType the module type (PH or PCM)
+   * @param fwd the forward solenoid channel.
+   * @param rev the reverse solenoid channel.
+   */
+  public DoubleSolenoidSim(int module, PneumaticsModuleType moduleType, int fwd, int rev) {
+    this(PneumaticsBaseSim.getForType(module, moduleType), fwd, rev);
+  }
+
+  /**
+   * Constructs for a solenoid on a pneumatics module of the given type and default ID.
+   *
+   * @param moduleType the module type (PH or PCM)
+   * @param fwd the forward solenoid channel.
+   * @param rev the reverse solenoid channel.
+   */
+  public DoubleSolenoidSim(PneumaticsModuleType moduleType, int fwd, int rev) {
+    this(PneumaticsBase.getDefaultForType(moduleType), moduleType, fwd, rev);
+  }
+
+  /**
+   * Check the value of the double solenoid output.
+   *
+   * @return the output value of the double solenoid.
+   */
+  public DoubleSolenoid.Value get() {
+    boolean fwdState = m_module.getSolenoidOutput(m_fwd);
+    boolean revState = m_module.getSolenoidOutput(m_rev);
+    if (fwdState && !revState) {
+      return DoubleSolenoid.Value.kForward;
+    } else if (!fwdState && revState) {
+      return DoubleSolenoid.Value.kReverse;
+    } else {
+      return DoubleSolenoid.Value.kOff;
+    }
+  }
+
+  /**
+   * Set the value of the double solenoid output.
+   *
+   * @param value The value to set (Off, Forward, Reverse)
+   */
+  public void set(final DoubleSolenoid.Value value) {
+    m_module.setSolenoidOutput(m_fwd, value == DoubleSolenoid.Value.kForward);
+    m_module.setSolenoidOutput(m_rev, value == DoubleSolenoid.Value.kReverse);
+  }
+
+  /**
+   * Get the wrapped {@link PneumaticsBaseSim} object.
+   *
+   * @return the wrapped {@link PneumaticsBaseSim} object.
+   */
+  public PneumaticsBaseSim getModuleSim() {
+    return m_module;
+  }
+}