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[wpilib] Rename DoubleSolenoid.Value constants to all caps

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This commit is contained in:
Peter Johnson
2026-03-17 17:10:58 -07:00
parent c5738fcbad
commit d86a745328
32 changed files with 155 additions and 155 deletions
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4
robotpyExamples/HatchbotInlined/subsystems/hatchsubsystem.py
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@@ -23,11 +23,11 @@ class HatchSubsystem(commands2.Subsystem):
def grabHatch(self) -> commands2.Command:
"""Grabs the hatch"""
return commands2.cmd.runOnce(
lambda: self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.kForward), self
lambda: self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.FORWARD), self
)
def releaseHatch(self) -> commands2.Command:
"""Releases the hatch"""
return commands2.cmd.runOnce(
lambda: self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.kReverse), self
lambda: self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.REVERSE), self
)

4
robotpyExamples/HatchbotTraditional/subsystems/hatchsubsystem.py
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@@ -21,8 +21,8 @@ class HatchSubsystem(commands2.Subsystem):
def grabHatch(self) -> None:
"""Grabs the hatch"""
self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.kForward)
self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.FORWARD)
def releaseHatch(self) -> None:
"""Releases the hatch"""
self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.kReverse)
self.hatchSolenoid.set(wpilib.DoubleSolenoid.Value.REVERSE)

4
robotpyExamples/RapidReactCommandBot/subsystems/intake.py
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@@ -28,7 +28,7 @@ class Intake(Subsystem):
indefinitely.
"""
return (
self.runOnce(lambda: self.pistons.set(wpilib.DoubleSolenoid.Value.kForward))
self.runOnce(lambda: self.pistons.set(wpilib.DoubleSolenoid.Value.FORWARD))
.andThen(self.run(lambda: self.motor.set(1.0)))
.withName("Intake")
)
@@ -38,6 +38,6 @@ class Intake(Subsystem):
return self.runOnce(
lambda: (
self.motor.disable(),
self.pistons.set(wpilib.DoubleSolenoid.Value.kReverse),
self.pistons.set(wpilib.DoubleSolenoid.Value.REVERSE),
)
).withName("Retract")

4
robotpyExamples/Solenoid/robot.py
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@@ -86,9 +86,9 @@ class MyRobot(wpilib.TimedRobot):
# If a button is pressed, set the solenoid to the respective channel.
if self.joystick.getRawButtonPressed(kDoubleSolenoidForwardButton):
self.doubleSolenoid.set(wpilib.DoubleSolenoid.Value.kForward)
self.doubleSolenoid.set(wpilib.DoubleSolenoid.Value.FORWARD)
elif self.joystick.getRawButtonPressed(kDoubleSolenoidReverseButton):
self.doubleSolenoid.set(wpilib.DoubleSolenoid.Value.kReverse)
self.doubleSolenoid.set(wpilib.DoubleSolenoid.Value.REVERSE)
# On button press, toggle the compressor.
if self.joystick.getRawButtonPressed(kCompressorButton):

10
robotpyExamples/UnitTest/constants.py
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@@ -6,11 +6,11 @@
class IntakeConstants:
kMotorPort = 1
MOTOR_PORT = 1
kPistonFwdChannel = 0
kPistonRevChannel = 1
kIntakeVelocity = 0.5
PISTON_FWD_CHANNEL = 0
PISTON_REV_CHANNEL = 1
INTAKE_VELOCITY = 0.5
kJoystickIndex = 0
JOYSTICK_INDEX = 0

4
robotpyExamples/UnitTest/robot.py
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@@ -21,13 +21,13 @@ class MyRobot(wpilib.TimedRobot):
def __init__(self) -> None:
super().__init__()
self.intake = Intake()
self.joystick = wpilib.Joystick(constants.kJoystickIndex)
self.joystick = wpilib.Joystick(constants.JOYSTICK_INDEX)
def teleopPeriodic(self) -> None:
"""This function is called periodically during operator control."""
# Activate the intake while the trigger is held
if self.joystick.getTrigger():
self.intake.activate(constants.IntakeConstants.kIntakeVelocity)
self.intake.activate(constants.IntakeConstants.INTAKE_VELOCITY)
else:
self.intake.activate(0)

12
robotpyExamples/UnitTest/subsystems/intake.py
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@@ -11,19 +11,19 @@ from constants import IntakeConstants
class Intake:
def __init__(self) -> None:
self.motor = wpilib.PWMSparkMax(IntakeConstants.kMotorPort)
self.motor = wpilib.PWMSparkMax(IntakeConstants.MOTOR_PORT)
self.piston = wpilib.DoubleSolenoid(
0,
wpilib.PneumaticsModuleType.CTREPCM,
IntakeConstants.kPistonFwdChannel,
IntakeConstants.kPistonRevChannel,
IntakeConstants.PISTON_FWD_CHANNEL,
IntakeConstants.PISTON_REV_CHANNEL,
)
def deploy(self) -> None:
self.piston.setDutyCycle(wpilib.DoubleSolenoid.Value.kForward)
self.piston.setDutyCycle(wpilib.DoubleSolenoid.Value.FORWARD)
def retract(self) -> None:
self.piston.setDutyCycle(wpilib.DoubleSolenoid.Value.kReverse)
self.piston.setDutyCycle(wpilib.DoubleSolenoid.Value.REVERSE)
self.motor.setDutyCycle(0) # turn off the motor
def activate(self, velocity: float) -> None:
@@ -33,4 +33,4 @@ class Intake:
self.motor.setDutyCycle(0)
def isDeployed(self) -> bool:
return self.piston.get() == wpilib.DoubleSolenoid.Value.kForward
return self.piston.get() == wpilib.DoubleSolenoid.Value.FORWARD

30
wpilibc/src/main/native/cpp/hardware/pneumatic/DoubleSolenoid.cpp
View File

@@ -72,13 +72,13 @@ void DoubleSolenoid::Set(Value value) {
int setValue = 0;
switch (value) {
case kOff:
case OFF:
setValue = 0;
break;
case kForward:
case FORWARD:
setValue = m_forwardMask;
break;
case kReverse:
case REVERSE:
setValue = m_reverseMask;
break;
}
@@ -90,21 +90,21 @@ DoubleSolenoid::Value DoubleSolenoid::Get() const {
auto values = m_module->GetSolenoids();
if ((values & m_forwardMask) != 0) {
return Value::kForward;
return Value::FORWARD;
} else if ((values & m_reverseMask) != 0) {
return Value::kReverse;
return Value::REVERSE;
} else {
return Value::kOff;
return Value::OFF;
}
}
void DoubleSolenoid::Toggle() {
Value value = Get();
if (value == kForward) {
Set(kReverse);
} else if (value == kReverse) {
Set(kForward);
if (value == FORWARD) {
Set(REVERSE);
} else if (value == REVERSE) {
Set(FORWARD);
}
}
@@ -131,20 +131,20 @@ void DoubleSolenoid::InitSendable(wpi::util::SendableBuilder& builder) {
"Value",
[=, this](wpi::util::SmallVectorImpl<char>& buf) -> std::string_view {
switch (Get()) {
case kForward:
case FORWARD:
return "Forward";
case kReverse:
case REVERSE:
return "Reverse";
default:
return "Off";
}
},
[=, this](std::string_view value) {
Value lvalue = kOff;
Value lvalue = OFF;
if (value == "Forward") {
lvalue = kForward;
lvalue = FORWARD;
} else if (value == "Reverse") {
lvalue = kReverse;
lvalue = REVERSE;
}
Set(lvalue);
});

10
wpilibc/src/main/native/cpp/simulation/DoubleSolenoidSim.cpp
View File

@@ -33,17 +33,17 @@ DoubleSolenoid::Value DoubleSolenoidSim::Get() const {
bool fwdState = m_module->GetSolenoidOutput(m_fwd);
bool revState = m_module->GetSolenoidOutput(m_rev);
if (fwdState && !revState) {
return DoubleSolenoid::Value::kForward;
return DoubleSolenoid::Value::FORWARD;
} else if (!fwdState && revState) {
return DoubleSolenoid::Value::kReverse;
return DoubleSolenoid::Value::REVERSE;
} else {
return DoubleSolenoid::Value::kOff;
return DoubleSolenoid::Value::OFF;
}
}
void DoubleSolenoidSim::Set(DoubleSolenoid::Value output) {
m_module->SetSolenoidOutput(m_fwd, output == DoubleSolenoid::Value::kForward);
m_module->SetSolenoidOutput(m_rev, output == DoubleSolenoid::Value::kReverse);
m_module->SetSolenoidOutput(m_fwd, output == DoubleSolenoid::Value::FORWARD);
m_module->SetSolenoidOutput(m_rev, output == DoubleSolenoid::Value::REVERSE);
}
std::shared_ptr<PneumaticsBaseSim> DoubleSolenoidSim::GetModuleSim() const {

6
wpilibc/src/main/native/include/wpi/hardware/pneumatic/DoubleSolenoid.hpp
View File

@@ -29,11 +29,11 @@ class DoubleSolenoid : public wpi::util::Sendable,
*/
enum Value {
/// Off position.
kOff,
OFF,
/// Forward position.
kForward,
FORWARD,
/// Reverse position.
kReverse
REVERSE
};
/**

22
wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp
View File

@@ -12,14 +12,14 @@ namespace wpi {
TEST(DoubleSolenoidCTRETest, ValidInitialization) {
DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
solenoid.Set(DoubleSolenoid::kReverse);
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
solenoid.Set(DoubleSolenoid::REVERSE);
EXPECT_EQ(DoubleSolenoid::REVERSE, solenoid.Get());
solenoid.Set(DoubleSolenoid::kForward);
EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
solenoid.Set(DoubleSolenoid::FORWARD);
EXPECT_EQ(DoubleSolenoid::FORWARD, solenoid.Get());
solenoid.Set(DoubleSolenoid::kOff);
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
solenoid.Set(DoubleSolenoid::OFF);
EXPECT_EQ(DoubleSolenoid::OFF, solenoid.Get());
}
TEST(DoubleSolenoidCTRETest, ThrowForwardPortAlreadyInitialized) {
@@ -48,18 +48,18 @@ TEST(DoubleSolenoidCTRETest, ThrowBothPortsAlreadyInitialized) {
TEST(DoubleSolenoidCTRETest, Toggle) {
DoubleSolenoid solenoid{0, 4, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
// Bootstrap it into reverse
solenoid.Set(DoubleSolenoid::kReverse);
solenoid.Set(DoubleSolenoid::REVERSE);
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
EXPECT_EQ(DoubleSolenoid::FORWARD, solenoid.Get());
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
EXPECT_EQ(DoubleSolenoid::REVERSE, solenoid.Get());
// Of shouldn't do anything on toggle
solenoid.Set(DoubleSolenoid::kOff);
solenoid.Set(DoubleSolenoid::OFF);
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
EXPECT_EQ(DoubleSolenoid::OFF, solenoid.Get());
}
TEST(DoubleSolenoidCTRETest, InvalidForwardPort) {

22
wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp
View File

@@ -12,14 +12,14 @@ namespace wpi {
TEST(DoubleSolenoidREVTest, ValidInitialization) {
DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
solenoid.Set(DoubleSolenoid::kReverse);
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
solenoid.Set(DoubleSolenoid::REVERSE);
EXPECT_EQ(DoubleSolenoid::REVERSE, solenoid.Get());
solenoid.Set(DoubleSolenoid::kForward);
EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
solenoid.Set(DoubleSolenoid::FORWARD);
EXPECT_EQ(DoubleSolenoid::FORWARD, solenoid.Get());
solenoid.Set(DoubleSolenoid::kOff);
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
solenoid.Set(DoubleSolenoid::OFF);
EXPECT_EQ(DoubleSolenoid::OFF, solenoid.Get());
}
TEST(DoubleSolenoidREVTest, ThrowForwardPortAlreadyInitialized) {
@@ -48,18 +48,18 @@ TEST(DoubleSolenoidREVTest, ThrowBothPortsAlreadyInitialized) {
TEST(DoubleSolenoidREVTest, Toggle) {
DoubleSolenoid solenoid{0, 4, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
// Bootstrap it into reverse
solenoid.Set(DoubleSolenoid::kReverse);
solenoid.Set(DoubleSolenoid::REVERSE);
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kForward, solenoid.Get());
EXPECT_EQ(DoubleSolenoid::FORWARD, solenoid.Get());
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kReverse, solenoid.Get());
EXPECT_EQ(DoubleSolenoid::REVERSE, solenoid.Get());
// Of shouldn't do anything on toggle
solenoid.Set(DoubleSolenoid::kOff);
solenoid.Set(DoubleSolenoid::OFF);
solenoid.Toggle();
EXPECT_EQ(DoubleSolenoid::kOff, solenoid.Get());
EXPECT_EQ(DoubleSolenoid::OFF, solenoid.Get());
}
TEST(DoubleSolenoidREVTest, InvalidForwardPort) {

6
wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
View File

@@ -43,7 +43,7 @@ TEST(CTREPCMSimTest, SolenoidOutput) {
callback3.Reset();
callback4.Reset();
doubleSolenoid.Set(DoubleSolenoid::kReverse);
doubleSolenoid.Set(DoubleSolenoid::REVERSE);
EXPECT_FALSE(callback3.WasTriggered());
EXPECT_FALSE(callback3.GetLastValue());
EXPECT_TRUE(callback4.WasTriggered());
@@ -55,7 +55,7 @@ TEST(CTREPCMSimTest, SolenoidOutput) {
callback3.Reset();
callback4.Reset();
doubleSolenoid.Set(DoubleSolenoid::kForward);
doubleSolenoid.Set(DoubleSolenoid::FORWARD);
EXPECT_TRUE(callback3.WasTriggered());
EXPECT_TRUE(callback3.GetLastValue());
EXPECT_TRUE(callback4.WasTriggered());
@@ -67,7 +67,7 @@ TEST(CTREPCMSimTest, SolenoidOutput) {
callback3.Reset();
callback4.Reset();
doubleSolenoid.Set(DoubleSolenoid::kOff);
doubleSolenoid.Set(DoubleSolenoid::OFF);
EXPECT_TRUE(callback3.WasTriggered());
EXPECT_FALSE(callback3.GetLastValue());
EXPECT_FALSE(callback4.WasTriggered());

6
wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
View File

@@ -43,7 +43,7 @@ TEST(REVPHSimTest, SolenoidOutput) {
callback3.Reset();
callback4.Reset();
doubleSolenoid.Set(DoubleSolenoid::kReverse);
doubleSolenoid.Set(DoubleSolenoid::REVERSE);
EXPECT_FALSE(callback3.WasTriggered());
EXPECT_FALSE(callback3.GetLastValue());
EXPECT_TRUE(callback4.WasTriggered());
@@ -55,7 +55,7 @@ TEST(REVPHSimTest, SolenoidOutput) {
callback3.Reset();
callback4.Reset();
doubleSolenoid.Set(DoubleSolenoid::kForward);
doubleSolenoid.Set(DoubleSolenoid::FORWARD);
EXPECT_TRUE(callback3.WasTriggered());
EXPECT_TRUE(callback3.GetLastValue());
EXPECT_TRUE(callback4.WasTriggered());
@@ -67,7 +67,7 @@ TEST(REVPHSimTest, SolenoidOutput) {
callback3.Reset();
callback4.Reset();
doubleSolenoid.Set(DoubleSolenoid::kOff);
doubleSolenoid.Set(DoubleSolenoid::OFF);
EXPECT_TRUE(callback3.WasTriggered());
EXPECT_FALSE(callback3.GetLastValue());
EXPECT_FALSE(callback4.WasTriggered());

6
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
View File

@@ -15,13 +15,13 @@ HatchSubsystem::HatchSubsystem()
wpi::cmd::CommandPtr HatchSubsystem::GrabHatchCommand() {
// implicitly require `this`
return this->RunOnce(
[this] { m_hatchSolenoid.Set(wpi::DoubleSolenoid::kForward); });
[this] { m_hatchSolenoid.Set(wpi::DoubleSolenoid::FORWARD); });
}
wpi::cmd::CommandPtr HatchSubsystem::ReleaseHatchCommand() {
// implicitly require `this`
return this->RunOnce(
[this] { m_hatchSolenoid.Set(wpi::DoubleSolenoid::kReverse); });
[this] { m_hatchSolenoid.Set(wpi::DoubleSolenoid::REVERSE); });
}
void HatchSubsystem::InitSendable(wpi::util::SendableBuilder& builder) {
@@ -30,6 +30,6 @@ void HatchSubsystem::InitSendable(wpi::util::SendableBuilder& builder) {
// Publish the solenoid state to telemetry.
builder.AddBooleanProperty(
"extended",
[this] { return m_hatchSolenoid.Get() == wpi::DoubleSolenoid::kForward; },
[this] { return m_hatchSolenoid.Get() == wpi::DoubleSolenoid::FORWARD; },
nullptr);
}

6
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
View File

@@ -13,11 +13,11 @@ HatchSubsystem::HatchSubsystem()
kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
void HatchSubsystem::GrabHatch() {
m_hatchSolenoid.Set(wpi::DoubleSolenoid::kForward);
m_hatchSolenoid.Set(wpi::DoubleSolenoid::FORWARD);
}
void HatchSubsystem::ReleaseHatch() {
m_hatchSolenoid.Set(wpi::DoubleSolenoid::kReverse);
m_hatchSolenoid.Set(wpi::DoubleSolenoid::REVERSE);
}
void HatchSubsystem::InitSendable(wpi::util::SendableBuilder& builder) {
@@ -26,6 +26,6 @@ void HatchSubsystem::InitSendable(wpi::util::SendableBuilder& builder) {
// Publish the solenoid state to telemetry.
builder.AddBooleanProperty(
"extended",
[this] { return m_hatchSolenoid.Get() == wpi::DoubleSolenoid::kForward; },
[this] { return m_hatchSolenoid.Get() == wpi::DoubleSolenoid::FORWARD; },
nullptr);
}

4
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/cpp/subsystems/Intake.cpp
View File

@@ -5,7 +5,7 @@
#include "subsystems/Intake.hpp"
wpi::cmd::CommandPtr Intake::IntakeCommand() {
return RunOnce([this] { m_piston.Set(wpi::DoubleSolenoid::kForward); })
return RunOnce([this] { m_piston.Set(wpi::DoubleSolenoid::FORWARD); })
.AndThen(Run([this] { m_motor.SetDutyCycle(1.0); }))
.WithName("Intake");
}
@@ -13,7 +13,7 @@ wpi::cmd::CommandPtr Intake::IntakeCommand() {
wpi::cmd::CommandPtr Intake::RetractCommand() {
return RunOnce([this] {
m_motor.Disable();
m_piston.Set(wpi::DoubleSolenoid::kReverse);
m_piston.Set(wpi::DoubleSolenoid::REVERSE);
})
.WithName("Retract");
}

6
wpilibcExamples/src/main/cpp/examples/UnitTest/cpp/subsystems/Intake.cpp
View File

@@ -5,11 +5,11 @@
#include "subsystems/Intake.hpp"
void Intake::Deploy() {
m_piston.Set(wpi::DoubleSolenoid::Value::kForward);
m_piston.Set(wpi::DoubleSolenoid::Value::FORWARD);
}
void Intake::Retract() {
m_piston.Set(wpi::DoubleSolenoid::Value::kReverse);
m_piston.Set(wpi::DoubleSolenoid::Value::REVERSE);
m_motor.SetDutyCycle(0); // turn off the motor
}
@@ -22,5 +22,5 @@ void Intake::Activate(double velocity) {
}
bool Intake::IsDeployed() const {
return m_piston.Get() == wpi::DoubleSolenoid::Value::kForward;
return m_piston.Get() == wpi::DoubleSolenoid::Value::FORWARD;
}

4
wpilibcExamples/src/main/cpp/snippets/Solenoid/cpp/Robot.cpp
View File

@@ -45,9 +45,9 @@ void Robot::TeleopPeriodic() {
* If a button is pressed, set the solenoid to the respective channel.
*/
if (m_stick.GetRawButtonPressed(kDoubleSolenoidForward)) {
m_doubleSolenoid.Set(wpi::DoubleSolenoid::kForward);
m_doubleSolenoid.Set(wpi::DoubleSolenoid::FORWARD);
} else if (m_stick.GetRawButtonPressed(kDoubleSolenoidReverse)) {
m_doubleSolenoid.Set(wpi::DoubleSolenoid::kReverse);
m_doubleSolenoid.Set(wpi::DoubleSolenoid::REVERSE);
}
// On button press, toggle the compressor with the mode selected from the

4
wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
View File

@@ -38,10 +38,10 @@ TEST_F(IntakeTest, WorksWhenOpen) {
TEST_F(IntakeTest, Retract) {
intake.Retract();
EXPECT_EQ(wpi::DoubleSolenoid::Value::kReverse, simPiston.Get());
EXPECT_EQ(wpi::DoubleSolenoid::Value::REVERSE, simPiston.Get());
}
TEST_F(IntakeTest, Deploy) {
intake.Deploy();
EXPECT_EQ(wpi::DoubleSolenoid::Value::kForward, simPiston.Get());
EXPECT_EQ(wpi::DoubleSolenoid::Value::FORWARD, simPiston.Get());
}

32
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/DoubleSolenoid.java
View File

@@ -20,11 +20,11 @@ public class DoubleSolenoid implements Sendable, AutoCloseable {
/** Possible values for a DoubleSolenoid. */
public enum Value {
/** Off position. */
kOff,
OFF,
/** Forward position. */
kForward,
FORWARD,
/** Reverse position. */
kReverse
REVERSE
}
private final int m_forwardMask; // The mask for the forward channel.
@@ -134,9 +134,9 @@ public class DoubleSolenoid implements Sendable, AutoCloseable {
public void set(final Value value) {
int setValue =
switch (value) {
case kOff -> 0;
case kForward -> m_forwardMask;
case kReverse -> m_reverseMask;
case OFF -> 0;
case FORWARD -> m_forwardMask;
case REVERSE -> m_reverseMask;
};
m_module.setSolenoids(m_mask, setValue);
@@ -151,11 +151,11 @@ public class DoubleSolenoid implements Sendable, AutoCloseable {
int values = m_module.getSolenoids();
if ((values & m_forwardMask) != 0) {
return Value.kForward;
return Value.FORWARD;
} else if ((values & m_reverseMask) != 0) {
return Value.kReverse;
return Value.REVERSE;
} else {
return Value.kOff;
return Value.OFF;
}
}
@@ -168,10 +168,10 @@ public class DoubleSolenoid implements Sendable, AutoCloseable {
public void toggle() {
Value value = get();
if (value == Value.kForward) {
set(Value.kReverse);
} else if (value == Value.kReverse) {
set(Value.kForward);
if (value == Value.FORWARD) {
set(Value.REVERSE);
} else if (value == Value.REVERSE) {
set(Value.FORWARD);
}
}
@@ -222,11 +222,11 @@ public class DoubleSolenoid implements Sendable, AutoCloseable {
() -> get().name().substring(1),
value -> {
if ("Forward".equals(value)) {
set(Value.kForward);
set(Value.FORWARD);
} else if ("Reverse".equals(value)) {
set(Value.kReverse);
set(Value.REVERSE);
} else {
set(Value.kOff);
set(Value.OFF);
}
});
}

10
wpilibj/src/main/java/org/wpilib/simulation/DoubleSolenoidSim.java
View File

@@ -59,11 +59,11 @@ public class DoubleSolenoidSim {
boolean fwdState = m_module.getSolenoidOutput(m_fwd);
boolean revState = m_module.getSolenoidOutput(m_rev);
if (fwdState && !revState) {
return DoubleSolenoid.Value.kForward;
return DoubleSolenoid.Value.FORWARD;
} else if (!fwdState && revState) {
return DoubleSolenoid.Value.kReverse;
return DoubleSolenoid.Value.REVERSE;
} else {
return DoubleSolenoid.Value.kOff;
return DoubleSolenoid.Value.OFF;
}
}
@@ -73,8 +73,8 @@ public class DoubleSolenoidSim {
* @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);
m_module.setSolenoidOutput(m_fwd, value == DoubleSolenoid.Value.FORWARD);
m_module.setSolenoidOutput(m_rev, value == DoubleSolenoid.Value.REVERSE);
}
/**

22
wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestCTRE.java
View File

@@ -14,14 +14,14 @@ class DoubleSolenoidTestCTRE {
@Test
void testValidInitialization() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.CTREPCM, 2, 3)) {
solenoid.set(DoubleSolenoid.Value.kReverse);
assertEquals(DoubleSolenoid.Value.kReverse, solenoid.get());
solenoid.set(DoubleSolenoid.Value.REVERSE);
assertEquals(DoubleSolenoid.Value.REVERSE, solenoid.get());
solenoid.set(DoubleSolenoid.Value.kForward);
assertEquals(DoubleSolenoid.Value.kForward, solenoid.get());
solenoid.set(DoubleSolenoid.Value.FORWARD);
assertEquals(DoubleSolenoid.Value.FORWARD, solenoid.get());
solenoid.set(DoubleSolenoid.Value.kOff);
assertEquals(DoubleSolenoid.Value.kOff, solenoid.get());
solenoid.set(DoubleSolenoid.Value.OFF);
assertEquals(DoubleSolenoid.Value.OFF, solenoid.get());
}
}
@@ -63,18 +63,18 @@ class DoubleSolenoidTestCTRE {
void testToggle() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 4, PneumaticsModuleType.CTREPCM, 2, 3)) {
// Bootstrap it into reverse
solenoid.set(DoubleSolenoid.Value.kReverse);
solenoid.set(DoubleSolenoid.Value.REVERSE);
solenoid.toggle();
assertEquals(DoubleSolenoid.Value.kForward, solenoid.get());
assertEquals(DoubleSolenoid.Value.FORWARD, solenoid.get());
solenoid.toggle();
assertEquals(DoubleSolenoid.Value.kReverse, solenoid.get());
assertEquals(DoubleSolenoid.Value.REVERSE, solenoid.get());
// Of shouldn't do anything on toggle
solenoid.set(DoubleSolenoid.Value.kOff);
solenoid.set(DoubleSolenoid.Value.OFF);
solenoid.toggle();
assertEquals(DoubleSolenoid.Value.kOff, solenoid.get());
assertEquals(DoubleSolenoid.Value.OFF, solenoid.get());
}
}

22
wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestREV.java
View File

@@ -14,14 +14,14 @@ class DoubleSolenoidTestREV {
@Test
void testValidInitialization() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.REVPH, 2, 3)) {
solenoid.set(DoubleSolenoid.Value.kReverse);
assertEquals(DoubleSolenoid.Value.kReverse, solenoid.get());
solenoid.set(DoubleSolenoid.Value.REVERSE);
assertEquals(DoubleSolenoid.Value.REVERSE, solenoid.get());
solenoid.set(DoubleSolenoid.Value.kForward);
assertEquals(DoubleSolenoid.Value.kForward, solenoid.get());
solenoid.set(DoubleSolenoid.Value.FORWARD);
assertEquals(DoubleSolenoid.Value.FORWARD, solenoid.get());
solenoid.set(DoubleSolenoid.Value.kOff);
assertEquals(DoubleSolenoid.Value.kOff, solenoid.get());
solenoid.set(DoubleSolenoid.Value.OFF);
assertEquals(DoubleSolenoid.Value.OFF, solenoid.get());
}
}
@@ -63,18 +63,18 @@ class DoubleSolenoidTestREV {
void testToggle() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 4, PneumaticsModuleType.REVPH, 2, 3)) {
// Bootstrap it into reverse
solenoid.set(DoubleSolenoid.Value.kReverse);
solenoid.set(DoubleSolenoid.Value.REVERSE);
solenoid.toggle();
assertEquals(DoubleSolenoid.Value.kForward, solenoid.get());
assertEquals(DoubleSolenoid.Value.FORWARD, solenoid.get());
solenoid.toggle();
assertEquals(DoubleSolenoid.Value.kReverse, solenoid.get());
assertEquals(DoubleSolenoid.Value.REVERSE, solenoid.get());
// Of shouldn't do anything on toggle
solenoid.set(DoubleSolenoid.Value.kOff);
solenoid.set(DoubleSolenoid.Value.OFF);
solenoid.toggle();
assertEquals(DoubleSolenoid.Value.kOff, solenoid.get());
assertEquals(DoubleSolenoid.Value.OFF, solenoid.get());
}
}

6
wpilibj/src/test/java/org/wpilib/simulation/CTREPCMSimTest.java
View File

@@ -53,7 +53,7 @@ class CTREPCMSimTest {
// Reverse
callback3.reset();
callback4.reset();
doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
doubleSolenoid.set(DoubleSolenoid.Value.REVERSE);
assertFalse(callback3.wasTriggered());
assertNull(callback3.getSetValue());
assertTrue(callback4.wasTriggered());
@@ -65,7 +65,7 @@ class CTREPCMSimTest {
// Forward
callback3.reset();
callback4.reset();
doubleSolenoid.set(DoubleSolenoid.Value.kForward);
doubleSolenoid.set(DoubleSolenoid.Value.FORWARD);
assertTrue(callback3.wasTriggered());
assertTrue(callback3.getSetValue());
assertTrue(callback4.wasTriggered());
@@ -77,7 +77,7 @@ class CTREPCMSimTest {
// Off
callback3.reset();
callback4.reset();
doubleSolenoid.set(DoubleSolenoid.Value.kOff);
doubleSolenoid.set(DoubleSolenoid.Value.OFF);
assertTrue(callback3.wasTriggered());
assertFalse(callback3.getSetValue());
assertFalse(callback4.wasTriggered());

6
wpilibj/src/test/java/org/wpilib/simulation/REVPHSimTest.java
View File

@@ -54,7 +54,7 @@ class REVPHSimTest {
// Reverse
callback3.reset();
callback4.reset();
doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
doubleSolenoid.set(DoubleSolenoid.Value.REVERSE);
assertFalse(callback3.wasTriggered());
assertNull(callback3.getSetValue());
assertTrue(callback4.wasTriggered());
@@ -66,7 +66,7 @@ class REVPHSimTest {
// Forward
callback3.reset();
callback4.reset();
doubleSolenoid.set(DoubleSolenoid.Value.kForward);
doubleSolenoid.set(DoubleSolenoid.Value.FORWARD);
assertTrue(callback3.wasTriggered());
assertTrue(callback3.getSetValue());
assertTrue(callback4.wasTriggered());
@@ -78,7 +78,7 @@ class REVPHSimTest {
// Off
callback3.reset();
callback4.reset();
doubleSolenoid.set(DoubleSolenoid.Value.kOff);
doubleSolenoid.set(DoubleSolenoid.Value.OFF);
assertTrue(callback3.wasTriggered());
assertFalse(callback3.getSetValue());
assertFalse(callback4.wasTriggered());

10
wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/HatchSubsystem.java
View File

@@ -4,8 +4,8 @@
package org.wpilib.examples.hatchbotinlined.subsystems;
import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.kForward;
import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.kReverse;
import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.FORWARD;
import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.REVERSE;
import org.wpilib.command2.Command;
import org.wpilib.command2.SubsystemBase;
@@ -26,19 +26,19 @@ public class HatchSubsystem extends SubsystemBase {
/** Grabs the hatch. */
public Command grabHatchCommand() {
// implicitly require `this`
return this.runOnce(() -> m_hatchSolenoid.set(kForward));
return this.runOnce(() -> m_hatchSolenoid.set(FORWARD));
}
/** Releases the hatch. */
public Command releaseHatchCommand() {
// implicitly require `this`
return this.runOnce(() -> m_hatchSolenoid.set(kReverse));
return this.runOnce(() -> m_hatchSolenoid.set(REVERSE));
}
@Override
public void initSendable(SendableBuilder builder) {
super.initSendable(builder);
// Publish the solenoid state to telemetry.
builder.addBooleanProperty("extended", () -> m_hatchSolenoid.get() == kForward, null);
builder.addBooleanProperty("extended", () -> m_hatchSolenoid.get() == FORWARD, null);
}
}

10
wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/HatchSubsystem.java
View File

@@ -4,8 +4,8 @@
package org.wpilib.examples.hatchbottraditional.subsystems;
import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.kForward;
import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.kReverse;
import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.FORWARD;
import static org.wpilib.hardware.pneumatic.DoubleSolenoid.Value.REVERSE;
import org.wpilib.command2.SubsystemBase;
import org.wpilib.examples.hatchbottraditional.Constants.HatchConstants;
@@ -24,18 +24,18 @@ public class HatchSubsystem extends SubsystemBase {
/** Grabs the hatch. */
public void grabHatch() {
m_hatchSolenoid.set(kForward);
m_hatchSolenoid.set(FORWARD);
}
/** Releases the hatch. */
public void releaseHatch() {
m_hatchSolenoid.set(kReverse);
m_hatchSolenoid.set(REVERSE);
}
@Override
public void initSendable(SendableBuilder builder) {
super.initSendable(builder);
// Publish the solenoid state to telemetry.
builder.addBooleanProperty("extended", () -> m_hatchSolenoid.get() == kForward, null);
builder.addBooleanProperty("extended", () -> m_hatchSolenoid.get() == FORWARD, null);
}
}

4
wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java
View File

@@ -28,7 +28,7 @@ public class Intake extends SubsystemBase {
/** Returns a command that deploys the intake, and then runs the intake motor indefinitely. */
public Command intakeCommand() {
return runOnce(() -> m_pistons.set(DoubleSolenoid.Value.kForward))
return runOnce(() -> m_pistons.set(DoubleSolenoid.Value.FORWARD))
.andThen(run(() -> m_motor.setDutyCycle(1.0)))
.withName("Intake");
}
@@ -38,7 +38,7 @@ public class Intake extends SubsystemBase {
return runOnce(
() -> {
m_motor.disable();
m_pistons.set(DoubleSolenoid.Value.kReverse);
m_pistons.set(DoubleSolenoid.Value.REVERSE);
})
.withName("Retract");
}

6
wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java
View File

@@ -24,11 +24,11 @@ public class Intake implements AutoCloseable {
}
public void deploy() {
m_piston.set(DoubleSolenoid.Value.kForward);
m_piston.set(DoubleSolenoid.Value.FORWARD);
}
public void retract() {
m_piston.set(DoubleSolenoid.Value.kReverse);
m_piston.set(DoubleSolenoid.Value.REVERSE);
m_motor.setDutyCycle(0); // turn off the motor
}
@@ -41,7 +41,7 @@ public class Intake implements AutoCloseable {
}
public boolean isDeployed() {
return m_piston.get() == DoubleSolenoid.Value.kForward;
return m_piston.get() == DoubleSolenoid.Value.FORWARD;
}
@Override

4
wpilibjExamples/src/main/java/org/wpilib/snippets/solenoid/Robot.java
View File

@@ -79,9 +79,9 @@ public class Robot extends TimedRobot {
* If a button is pressed, set the solenoid to the respective channel.
*/
if (m_stick.getRawButtonPressed(kDoubleSolenoidForwardButton)) {
m_doubleSolenoid.set(DoubleSolenoid.Value.kForward);
m_doubleSolenoid.set(DoubleSolenoid.Value.FORWARD);
} else if (m_stick.getRawButtonPressed(kDoubleSolenoidReverseButton)) {
m_doubleSolenoid.set(DoubleSolenoid.Value.kReverse);
m_doubleSolenoid.set(DoubleSolenoid.Value.REVERSE);
}
// On button press, toggle the compressor.

4
wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java
View File

@@ -60,12 +60,12 @@ class IntakeTest {
@Test
void retractTest() {
m_intake.retract();
assertEquals(DoubleSolenoid.Value.kReverse, m_simPiston.get());
assertEquals(DoubleSolenoid.Value.REVERSE, m_simPiston.get());
}
@Test
void deployTest() {
m_intake.deploy();
assertEquals(DoubleSolenoid.Value.kForward, m_simPiston.get());
assertEquals(DoubleSolenoid.Value.FORWARD, m_simPiston.get());
}
}