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[wpilib] Rename PneumaticsModuleType constants

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This commit is contained in:
Peter Johnson
2026-03-19 21:32:48 -07:00
parent f060c98992
commit ea32c247db
44 changed files with 142 additions and 137 deletions
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2
robotpyExamples/HatchbotInlined/constants.py
View File

@@ -30,7 +30,7 @@ kWheelDiameterInches = 6
kEncoderDistancePerPulse = (kWheelDiameterInches * math.pi) / kEncoderCPR
# Hatch
kHatchSolenoidModuleType = wpilib.PneumaticsModuleType.CTREPCM
kHatchSolenoidModuleType = wpilib.PneumaticsModuleType.CTRE_PCM
kHatchSolenoidModule = 0
kHatchSolenoidPorts = (0, 1)

2
robotpyExamples/HatchbotTraditional/constants.py
View File

@@ -30,7 +30,7 @@ kWheelDiameterInches = 6
kEncoderDistancePerPulse = (kWheelDiameterInches * math.pi) / kEncoderCPR
# Hatch
kHatchSolenoidModuleType = wpilib.PneumaticsModuleType.CTREPCM
kHatchSolenoidModuleType = wpilib.PneumaticsModuleType.CTRE_PCM
kHatchSolenoidModule = 0
kHatchSolenoidPorts = (0, 1)

2
robotpyExamples/RapidReactCommandBot/subsystems/intake.py
View File

@@ -18,7 +18,7 @@ class Intake(Subsystem):
# Double solenoid connected to two channels of a PCM with the default CAN ID
self.pistons = wpilib.DoubleSolenoid(
0,
wpilib.PneumaticsModuleType.CTREPCM,
wpilib.PneumaticsModuleType.CTRE_PCM,
IntakeConstants.kSolenoidPorts[0],
IntakeConstants.kSolenoidPorts[1],
)

2
robotpyExamples/RapidReactCommandBot/subsystems/pneumatics.py
View File

@@ -29,7 +29,7 @@ class Pneumatics(Subsystem):
)
# Compressor connected to a PCM with a default CAN ID (0)
self.compressor = wpilib.Compressor(0, wpilib.PneumaticsModuleType.CTREPCM)
self.compressor = wpilib.Compressor(0, wpilib.PneumaticsModuleType.CTRE_PCM)
def getPressure(self) -> float:
"""Query the analog pressure sensor.

6
robotpyExamples/Solenoid/robot.py
View File

@@ -33,21 +33,21 @@ class MyRobot(wpilib.TimedRobot):
# Solenoid corresponds to a single solenoid.
# In this case, it's connected to channel 0 of a PH with the default CAN ID.
self.solenoid = wpilib.Solenoid(
busId=0, moduleType=wpilib.PneumaticsModuleType.REVPH, channel=0
busId=0, moduleType=wpilib.PneumaticsModuleType.REV_PH, channel=0
)
# DoubleSolenoid corresponds to a double solenoid.
# In this case, it's connected to channels 1 and 2 of a PH with the default CAN ID.
self.doubleSolenoid = wpilib.DoubleSolenoid(
busId=0,
moduleType=wpilib.PneumaticsModuleType.REVPH,
moduleType=wpilib.PneumaticsModuleType.REV_PH,
forwardChannel=1,
reverseChannel=2,
)
# Compressor connected to a PH with a default CAN ID (1)
self.compressor = wpilib.Compressor(
busId=0, moduleType=wpilib.PneumaticsModuleType.REVPH
busId=0, moduleType=wpilib.PneumaticsModuleType.REV_PH
)
# Publish elements to dashboard.

2
robotpyExamples/UnitTest/subsystems/intake.py
View File

@@ -14,7 +14,7 @@ class Intake:
self.motor = wpilib.PWMSparkMax(IntakeConstants.MOTOR_PORT)
self.piston = wpilib.DoubleSolenoid(
0,
wpilib.PneumaticsModuleType.CTREPCM,
wpilib.PneumaticsModuleType.CTRE_PCM,
IntakeConstants.PISTON_FWD_CHANNEL,
IntakeConstants.PISTON_REV_CHANNEL,
)

2
wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp
View File

@@ -88,7 +88,7 @@ void Compressor::InitSendable(wpi::util::SendableBuilder& builder) {
builder.AddDoubleProperty(
"Current (A)", [this] { return GetCurrent().value(); }, nullptr);
// These are not supported by the CTRE PCM
if (m_moduleType == PneumaticsModuleType::REVPH) {
if (m_moduleType == PneumaticsModuleType::REV_PH) {
builder.AddDoubleProperty(
"Analog Voltage", [this] { return GetAnalogVoltage().value(); },
nullptr);

6
wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp
View File

@@ -419,17 +419,17 @@ wpi::units::pounds_per_square_inch_t PneumaticHub::GetPressure(
}
Solenoid PneumaticHub::MakeSolenoid(int channel) {
return Solenoid{m_module, PneumaticsModuleType::REVPH, channel};
return Solenoid{m_module, PneumaticsModuleType::REV_PH, channel};
}
DoubleSolenoid PneumaticHub::MakeDoubleSolenoid(int forwardChannel,
int reverseChannel) {
return DoubleSolenoid{m_module, PneumaticsModuleType::REVPH, forwardChannel,
return DoubleSolenoid{m_module, PneumaticsModuleType::REV_PH, forwardChannel,
reverseChannel};
}
Compressor PneumaticHub::MakeCompressor() {
return Compressor{m_module, PneumaticsModuleType::REVPH};
return Compressor{m_module, PneumaticsModuleType::REV_PH};
}
void PneumaticHub::ReportUsage(std::string_view device, std::string_view data) {

8
wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp
View File

@@ -29,9 +29,9 @@ static_assert(
std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType(
int busId, int module, PneumaticsModuleType moduleType) {
if (moduleType == PneumaticsModuleType::CTREPCM) {
if (moduleType == PneumaticsModuleType::CTRE_PCM) {
return PneumaticsControlModule::GetForModule(busId, module);
} else if (moduleType == PneumaticsModuleType::REVPH) {
} else if (moduleType == PneumaticsModuleType::REV_PH) {
return PneumaticHub::GetForModule(busId, module);
}
throw WPILIB_MakeError(err::InvalidParameter, "{}",
@@ -39,9 +39,9 @@ std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType(
}
int PneumaticsBase::GetDefaultForType(PneumaticsModuleType moduleType) {
if (moduleType == PneumaticsModuleType::CTREPCM) {
if (moduleType == PneumaticsModuleType::CTRE_PCM) {
return SensorUtil::GetDefaultCTREPCMModule();
} else if (moduleType == PneumaticsModuleType::REVPH) {
} else if (moduleType == PneumaticsModuleType::REV_PH) {
return SensorUtil::GetDefaultREVPHModule();
}
throw WPILIB_MakeError(err::InvalidParameter, "{}",

8
wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp
View File

@@ -286,17 +286,17 @@ wpi::units::pounds_per_square_inch_t PneumaticsControlModule::GetPressure(
}
Solenoid PneumaticsControlModule::MakeSolenoid(int channel) {
return Solenoid{m_module, PneumaticsModuleType::CTREPCM, channel};
return Solenoid{m_module, PneumaticsModuleType::CTRE_PCM, channel};
}
DoubleSolenoid PneumaticsControlModule::MakeDoubleSolenoid(int forwardChannel,
int reverseChannel) {
return DoubleSolenoid{m_module, PneumaticsModuleType::CTREPCM, forwardChannel,
reverseChannel};
return DoubleSolenoid{m_module, PneumaticsModuleType::CTRE_PCM,
forwardChannel, reverseChannel};
}
Compressor PneumaticsControlModule::MakeCompressor() {
return Compressor{m_module, PneumaticsModuleType::CTREPCM};
return Compressor{m_module, PneumaticsModuleType::CTRE_PCM};
}
void PneumaticsControlModule::ReportUsage(std::string_view device,

4
wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp
View File

@@ -17,10 +17,10 @@ using namespace wpi::sim;
std::shared_ptr<PneumaticsBaseSim> PneumaticsBaseSim::GetForType(
int module, PneumaticsModuleType type) {
switch (type) {
case PneumaticsModuleType::REVPH:
case PneumaticsModuleType::REV_PH:
return std::make_shared<REVPHSim>(module);
case PneumaticsModuleType::CTREPCM:
case PneumaticsModuleType::CTRE_PCM:
return std::make_shared<CTREPCMSim>(module);
default:

4
wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsModuleType.hpp
View File

@@ -10,8 +10,8 @@ namespace wpi {
*/
enum class PneumaticsModuleType {
/// CTRE PCM.
CTREPCM,
CTRE_PCM,
/// REV PH.
REVPH
REV_PH
};
} // namespace wpi

28
wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp
View File

@@ -11,7 +11,7 @@
namespace wpi {
TEST(DoubleSolenoidCTRETest, ValidInitialization) {
DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTRE_PCM, 2, 3};
solenoid.Set(DoubleSolenoid::REVERSE);
EXPECT_EQ(DoubleSolenoid::REVERSE, solenoid.Get());
@@ -24,29 +24,29 @@ TEST(DoubleSolenoidCTRETest, ValidInitialization) {
TEST(DoubleSolenoidCTRETest, ThrowForwardPortAlreadyInitialized) {
// Single solenoid that is reused for forward port
Solenoid solenoid{0, 5, wpi::PneumaticsModuleType::CTREPCM, 2};
EXPECT_THROW(DoubleSolenoid(0, 5, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
Solenoid solenoid{0, 5, wpi::PneumaticsModuleType::CTRE_PCM, 2};
EXPECT_THROW(DoubleSolenoid(0, 5, wpi::PneumaticsModuleType::CTRE_PCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, ThrowReversePortAlreadyInitialized) {
// Single solenoid that is reused for forward port
Solenoid solenoid{0, 6, wpi::PneumaticsModuleType::CTREPCM, 3};
EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
Solenoid solenoid{0, 6, wpi::PneumaticsModuleType::CTRE_PCM, 3};
EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTRE_PCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, ThrowBothPortsAlreadyInitialized) {
PneumaticsControlModule pcm{0, 6};
// Single solenoid that is reused for forward port
Solenoid solenoid0(0, 6, wpi::PneumaticsModuleType::CTREPCM, 2);
Solenoid solenoid1(0, 6, wpi::PneumaticsModuleType::CTREPCM, 3);
EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
Solenoid solenoid0(0, 6, wpi::PneumaticsModuleType::CTRE_PCM, 2);
Solenoid solenoid1(0, 6, wpi::PneumaticsModuleType::CTRE_PCM, 3);
EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTRE_PCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, Toggle) {
DoubleSolenoid solenoid{0, 4, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
DoubleSolenoid solenoid{0, 4, wpi::PneumaticsModuleType::CTRE_PCM, 2, 3};
// Bootstrap it into reverse
solenoid.Set(DoubleSolenoid::REVERSE);
@@ -63,12 +63,14 @@ TEST(DoubleSolenoidCTRETest, Toggle) {
}
TEST(DoubleSolenoidCTRETest, InvalidForwardPort) {
EXPECT_THROW(DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTREPCM, 100, 1),
std::runtime_error);
EXPECT_THROW(
DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTRE_PCM, 100, 1),
std::runtime_error);
}
TEST(DoubleSolenoidCTRETest, InvalidReversePort) {
EXPECT_THROW(DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTREPCM, 0, 100),
std::runtime_error);
EXPECT_THROW(
DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTRE_PCM, 0, 100),
std::runtime_error);
}
} // namespace wpi

28
wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp
View File

@@ -11,7 +11,7 @@
namespace wpi {
TEST(DoubleSolenoidREVTest, ValidInitialization) {
DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTRE_PCM, 2, 3};
solenoid.Set(DoubleSolenoid::REVERSE);
EXPECT_EQ(DoubleSolenoid::REVERSE, solenoid.Get());
@@ -24,29 +24,29 @@ TEST(DoubleSolenoidREVTest, ValidInitialization) {
TEST(DoubleSolenoidREVTest, ThrowForwardPortAlreadyInitialized) {
// Single solenoid that is reused for forward port
Solenoid solenoid{0, 5, wpi::PneumaticsModuleType::CTREPCM, 2};
EXPECT_THROW(DoubleSolenoid(5, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
Solenoid solenoid{0, 5, wpi::PneumaticsModuleType::CTRE_PCM, 2};
EXPECT_THROW(DoubleSolenoid(5, wpi::PneumaticsModuleType::CTRE_PCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidREVTest, ThrowReversePortAlreadyInitialized) {
// Single solenoid that is reused for forward port
Solenoid solenoid{0, 6, wpi::PneumaticsModuleType::CTREPCM, 3};
EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
Solenoid solenoid{0, 6, wpi::PneumaticsModuleType::CTRE_PCM, 3};
EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTRE_PCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidREVTest, ThrowBothPortsAlreadyInitialized) {
PneumaticsControlModule pcm{0, 6};
// Single solenoid that is reused for forward port
Solenoid solenoid0(0, 6, wpi::PneumaticsModuleType::CTREPCM, 2);
Solenoid solenoid1(0, 6, wpi::PneumaticsModuleType::CTREPCM, 3);
EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTREPCM, 2, 3),
Solenoid solenoid0(0, 6, wpi::PneumaticsModuleType::CTRE_PCM, 2);
Solenoid solenoid1(0, 6, wpi::PneumaticsModuleType::CTRE_PCM, 3);
EXPECT_THROW(DoubleSolenoid(6, wpi::PneumaticsModuleType::CTRE_PCM, 2, 3),
std::runtime_error);
}
TEST(DoubleSolenoidREVTest, Toggle) {
DoubleSolenoid solenoid{0, 4, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
DoubleSolenoid solenoid{0, 4, wpi::PneumaticsModuleType::CTRE_PCM, 2, 3};
// Bootstrap it into reverse
solenoid.Set(DoubleSolenoid::REVERSE);
@@ -63,12 +63,14 @@ TEST(DoubleSolenoidREVTest, Toggle) {
}
TEST(DoubleSolenoidREVTest, InvalidForwardPort) {
EXPECT_THROW(DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTREPCM, 100, 1),
std::runtime_error);
EXPECT_THROW(
DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTRE_PCM, 100, 1),
std::runtime_error);
}
TEST(DoubleSolenoidREVTest, InvalidReversePort) {
EXPECT_THROW(DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTREPCM, 0, 100),
std::runtime_error);
EXPECT_THROW(
DoubleSolenoid(0, 0, wpi::PneumaticsModuleType::CTRE_PCM, 0, 100),
std::runtime_error);
}
} // namespace wpi

14
wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp
View File

@@ -9,7 +9,7 @@
namespace wpi {
TEST(SolenoidCTRETest, ValidInitialization) {
Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2};
Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTRE_PCM, 2};
EXPECT_EQ(2, solenoid.GetChannel());
solenoid.Set(true);
@@ -20,24 +20,24 @@ TEST(SolenoidCTRETest, ValidInitialization) {
}
TEST(SolenoidCTRETest, DoubleInitialization) {
Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2};
EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::CTREPCM, 2),
Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTRE_PCM, 2};
EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::CTRE_PCM, 2),
std::runtime_error);
}
TEST(SolenoidCTRETest, DoubleInitializationFromDoubleSolenoid) {
DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2, 3};
EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::CTREPCM, 2),
DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTRE_PCM, 2, 3};
EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::CTRE_PCM, 2),
std::runtime_error);
}
TEST(SolenoidCTRETest, InvalidChannel) {
EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::CTREPCM, 100),
EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::CTRE_PCM, 100),
std::runtime_error);
}
TEST(SolenoidCTRETest, Toggle) {
Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTREPCM, 2};
Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::CTRE_PCM, 2};
solenoid.Set(true);
EXPECT_TRUE(solenoid.Get());

14
wpilibc/src/test/native/cpp/SolenoidTestREV.cpp
View File

@@ -9,7 +9,7 @@
namespace wpi {
TEST(SolenoidREVTest, ValidInitialization) {
Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::REVPH, 2};
Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::REV_PH, 2};
EXPECT_EQ(2, solenoid.GetChannel());
solenoid.Set(true);
@@ -20,24 +20,24 @@ TEST(SolenoidREVTest, ValidInitialization) {
}
TEST(SolenoidREVTest, DoubleInitialization) {
Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::REVPH, 2};
EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::REVPH, 2),
Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::REV_PH, 2};
EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::REV_PH, 2),
std::runtime_error);
}
TEST(SolenoidREVTest, DoubleInitializationFromDoubleSolenoid) {
DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::REVPH, 2, 3};
EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::REVPH, 2),
DoubleSolenoid solenoid{0, 3, wpi::PneumaticsModuleType::REV_PH, 2, 3};
EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::REV_PH, 2),
std::runtime_error);
}
TEST(SolenoidREVTest, InvalidChannel) {
EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::REVPH, 100),
EXPECT_THROW(Solenoid(0, 3, wpi::PneumaticsModuleType::REV_PH, 100),
std::runtime_error);
}
TEST(SolenoidREVTest, Toggle) {
Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::REVPH, 2};
Solenoid solenoid{0, 3, wpi::PneumaticsModuleType::REV_PH, 2};
solenoid.Set(true);
EXPECT_TRUE(solenoid.Get());

2
wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp
View File

@@ -32,7 +32,7 @@ TEST(CTREPCMSimTest, SolenoidOutput) {
CTREPCMSim sim(pcm);
sim.ResetData();
DoubleSolenoid doubleSolenoid{0, wpi::PneumaticsModuleType::CTREPCM, 3, 4};
DoubleSolenoid doubleSolenoid{0, wpi::PneumaticsModuleType::CTRE_PCM, 3, 4};
BooleanCallback callback3;
BooleanCallback callback4;

2
wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp
View File

@@ -32,7 +32,7 @@ TEST(REVPHSimTest, SolenoidOutput) {
REVPHSim sim(ph);
sim.ResetData();
DoubleSolenoid doubleSolenoid{0, 1, wpi::PneumaticsModuleType::REVPH, 3, 4};
DoubleSolenoid doubleSolenoid{0, 1, wpi::PneumaticsModuleType::REV_PH, 3, 4};
BooleanCallback callback3;
BooleanCallback callback4;

2
wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp
View File

@@ -9,7 +9,7 @@
using namespace HatchConstants;
HatchSubsystem::HatchSubsystem()
: m_hatchSolenoid{0, wpi::PneumaticsModuleType::CTREPCM,
: m_hatchSolenoid{0, wpi::PneumaticsModuleType::CTRE_PCM,
kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
wpi::cmd::CommandPtr HatchSubsystem::GrabHatchCommand() {

2
wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp
View File

@@ -9,7 +9,7 @@
using namespace HatchConstants;
HatchSubsystem::HatchSubsystem()
: m_hatchSolenoid{0, wpi::PneumaticsModuleType::CTREPCM,
: m_hatchSolenoid{0, wpi::PneumaticsModuleType::CTRE_PCM,
kHatchSolenoidPorts[0], kHatchSolenoidPorts[1]} {}
void HatchSubsystem::GrabHatch() {

2
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp
View File

@@ -27,7 +27,7 @@ class Intake : public wpi::cmd::SubsystemBase {
wpi::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
// Double solenoid connected to two channels of a PCM with the default CAN ID
wpi::DoubleSolenoid m_piston{0, wpi::PneumaticsModuleType::CTREPCM,
wpi::DoubleSolenoid m_piston{0, wpi::PneumaticsModuleType::CTRE_PCM,
IntakeConstants::kSolenoidPorts[0],
IntakeConstants::kSolenoidPorts[1]};
};

2
wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp
View File

@@ -38,5 +38,5 @@ class Pneumatics : wpi::cmd::SubsystemBase {
kScale, kOffset};
// Compressor connected to a PH with a default CAN ID
wpi::Compressor m_compressor{0, wpi::PneumaticsModuleType::CTREPCM};
wpi::Compressor m_compressor{0, wpi::PneumaticsModuleType::CTRE_PCM};
};

2
wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp
View File

@@ -17,7 +17,7 @@ class Intake {
private:
wpi::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
wpi::DoubleSolenoid m_piston{0, wpi::PneumaticsModuleType::CTREPCM,
wpi::DoubleSolenoid m_piston{0, wpi::PneumaticsModuleType::CTRE_PCM,
IntakeConstants::kPistonFwdChannel,
IntakeConstants::kPistonRevChannel};
};

6
wpilibcExamples/src/main/cpp/snippets/Solenoid/include/Robot.hpp
View File

@@ -44,16 +44,16 @@ class Robot : public wpi::TimedRobot {
// Solenoid corresponds to a single solenoid.
// In this case, it's connected to channel 0 of a PH with the default CAN
// ID.
wpi::Solenoid m_solenoid{0, wpi::PneumaticsModuleType::REVPH, 0};
wpi::Solenoid m_solenoid{0, wpi::PneumaticsModuleType::REV_PH, 0};
// DoubleSolenoid corresponds to a double solenoid.
// In this case, it's connected to channels 1 and 2 of a PH with the default
// CAN ID.
wpi::DoubleSolenoid m_doubleSolenoid{0, wpi::PneumaticsModuleType::REVPH, 1,
wpi::DoubleSolenoid m_doubleSolenoid{0, wpi::PneumaticsModuleType::REV_PH, 1,
2};
// Compressor connected to a PH with a default CAN ID
wpi::Compressor m_compressor{0, wpi::PneumaticsModuleType::REVPH};
wpi::Compressor m_compressor{0, wpi::PneumaticsModuleType::REV_PH};
static constexpr int kSolenoidButton = 1;
static constexpr int kDoubleSolenoidForward = 2;

2
wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp
View File

@@ -17,7 +17,7 @@ class IntakeTest : public testing::Test {
wpi::sim::PWMMotorControllerSim simMotor{
IntakeConstants::kMotorPort}; // create our simulation PWM
wpi::sim::DoubleSolenoidSim simPiston{
wpi::PneumaticsModuleType::CTREPCM, IntakeConstants::kPistonFwdChannel,
wpi::PneumaticsModuleType::CTRE_PCM, IntakeConstants::kPistonFwdChannel,
IntakeConstants::kPistonRevChannel}; // create our simulation solenoid
};

2
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/Compressor.java
View File

@@ -197,7 +197,7 @@ public class Compressor implements Sendable, AutoCloseable {
builder.addBooleanProperty("Enabled", this::isEnabled, null);
builder.addBooleanProperty("Pressure switch", this::getPressureSwitchValue, null);
builder.addDoubleProperty("Current (A)", this::getCurrent, null);
if (m_moduleType == PneumaticsModuleType.REVPH) { // These are not supported by the CTRE PCM
if (m_moduleType == PneumaticsModuleType.REV_PH) { // These are not supported by the CTRE PCM
builder.addDoubleProperty("Analog Voltage", this::getAnalogVoltage, null);
builder.addDoubleProperty("Pressure (PSI)", this::getPressure, null);
}

6
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticHub.java
View File

@@ -201,18 +201,18 @@ public class PneumaticHub implements PneumaticsBase {
@Override
public Solenoid makeSolenoid(int channel) {
return new Solenoid(m_dataStore.m_module, PneumaticsModuleType.REVPH, channel);
return new Solenoid(m_dataStore.m_module, PneumaticsModuleType.REV_PH, channel);
}
@Override
public DoubleSolenoid makeDoubleSolenoid(int forwardChannel, int reverseChannel) {
return new DoubleSolenoid(
m_dataStore.m_module, PneumaticsModuleType.REVPH, forwardChannel, reverseChannel);
m_dataStore.m_module, PneumaticsModuleType.REV_PH, forwardChannel, reverseChannel);
}
@Override
public Compressor makeCompressor() {
return new Compressor(m_dataStore.m_module, PneumaticsModuleType.REVPH);
return new Compressor(m_dataStore.m_module, PneumaticsModuleType.REV_PH);
}
@Override

8
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsBase.java
View File

@@ -18,8 +18,8 @@ public interface PneumaticsBase extends AutoCloseable {
*/
static PneumaticsBase getForType(int busId, int module, PneumaticsModuleType type) {
return switch (type) {
case CTREPCM -> new PneumaticsControlModule(busId, module);
case REVPH -> new PneumaticHub(busId, module);
case CTRE_PCM -> new PneumaticsControlModule(busId, module);
case REV_PH -> new PneumaticHub(busId, module);
};
}
@@ -31,8 +31,8 @@ public interface PneumaticsBase extends AutoCloseable {
*/
static int getDefaultForType(PneumaticsModuleType type) {
return switch (type) {
case CTREPCM -> SensorUtil.getDefaultCTREPCMModule();
case REVPH -> SensorUtil.getDefaultREVPHModule();
case CTRE_PCM -> SensorUtil.getDefaultCTREPCMModule();
case REV_PH -> SensorUtil.getDefaultREVPHModule();
};
}

6
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsControlModule.java
View File

@@ -265,18 +265,18 @@ public class PneumaticsControlModule implements PneumaticsBase {
@Override
public Solenoid makeSolenoid(int channel) {
return new Solenoid(m_dataStore.m_module, PneumaticsModuleType.CTREPCM, channel);
return new Solenoid(m_dataStore.m_module, PneumaticsModuleType.CTRE_PCM, channel);
}
@Override
public DoubleSolenoid makeDoubleSolenoid(int forwardChannel, int reverseChannel) {
return new DoubleSolenoid(
m_dataStore.m_module, PneumaticsModuleType.CTREPCM, forwardChannel, reverseChannel);
m_dataStore.m_module, PneumaticsModuleType.CTRE_PCM, forwardChannel, reverseChannel);
}
@Override
public Compressor makeCompressor() {
return new Compressor(m_dataStore.m_module, PneumaticsModuleType.CTREPCM);
return new Compressor(m_dataStore.m_module, PneumaticsModuleType.CTRE_PCM);
}
@Override

4
wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsModuleType.java
View File

@@ -7,7 +7,7 @@ package org.wpilib.hardware.pneumatic;
/** Pneumatics module type. */
public enum PneumaticsModuleType {
/** CTRE PCM. */
CTREPCM,
CTRE_PCM,
/** REV PH. */
REVPH
REV_PH
}

4
wpilibj/src/main/java/org/wpilib/simulation/PneumaticsBaseSim.java
View File

@@ -22,8 +22,8 @@ public abstract class PneumaticsBaseSim {
*/
public static PneumaticsBaseSim getForType(int module, PneumaticsModuleType type) {
return switch (type) {
case CTREPCM -> new CTREPCMSim(module);
case REVPH -> new REVPHSim(module);
case CTRE_PCM -> new CTREPCMSim(module);
case REV_PH -> new REVPHSim(module);
};
}

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

@@ -13,7 +13,7 @@ import org.wpilib.hardware.hal.util.AllocationException;
class DoubleSolenoidTestCTRE {
@Test
void testValidInitialization() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.CTREPCM, 2, 3)) {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.CTRE_PCM, 2, 3)) {
solenoid.set(DoubleSolenoid.Value.REVERSE);
assertEquals(DoubleSolenoid.Value.REVERSE, solenoid.get());
@@ -29,10 +29,10 @@ class DoubleSolenoidTestCTRE {
void testThrowForwardPortAlreadyInitialized() {
try (
// Single solenoid that is reused for forward port
Solenoid solenoid = new Solenoid(0, 5, PneumaticsModuleType.CTREPCM, 2)) {
Solenoid solenoid = new Solenoid(0, 5, PneumaticsModuleType.CTRE_PCM, 2)) {
assertThrows(
AllocationException.class,
() -> new DoubleSolenoid(0, 5, PneumaticsModuleType.CTREPCM, 2, 3));
() -> new DoubleSolenoid(0, 5, PneumaticsModuleType.CTRE_PCM, 2, 3));
}
}
@@ -40,10 +40,10 @@ class DoubleSolenoidTestCTRE {
void testThrowReversePortAlreadyInitialized() {
try (
// Single solenoid that is reused for forward port
Solenoid solenoid = new Solenoid(0, 6, PneumaticsModuleType.CTREPCM, 3)) {
Solenoid solenoid = new Solenoid(0, 6, PneumaticsModuleType.CTRE_PCM, 3)) {
assertThrows(
AllocationException.class,
() -> new DoubleSolenoid(0, 6, PneumaticsModuleType.CTREPCM, 2, 3));
() -> new DoubleSolenoid(0, 6, PneumaticsModuleType.CTRE_PCM, 2, 3));
}
}
@@ -51,17 +51,17 @@ class DoubleSolenoidTestCTRE {
void testThrowBothPortsAlreadyInitialized() {
try (
// Single solenoid that is reused for forward port
Solenoid solenoid0 = new Solenoid(0, 6, PneumaticsModuleType.CTREPCM, 2);
Solenoid solenoid1 = new Solenoid(0, 6, PneumaticsModuleType.CTREPCM, 3)) {
Solenoid solenoid0 = new Solenoid(0, 6, PneumaticsModuleType.CTRE_PCM, 2);
Solenoid solenoid1 = new Solenoid(0, 6, PneumaticsModuleType.CTRE_PCM, 3)) {
assertThrows(
AllocationException.class,
() -> new DoubleSolenoid(0, 6, PneumaticsModuleType.CTREPCM, 2, 3));
() -> new DoubleSolenoid(0, 6, PneumaticsModuleType.CTRE_PCM, 2, 3));
}
}
@Test
void testToggle() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 4, PneumaticsModuleType.CTREPCM, 2, 3)) {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 4, PneumaticsModuleType.CTRE_PCM, 2, 3)) {
// Bootstrap it into reverse
solenoid.set(DoubleSolenoid.Value.REVERSE);
@@ -82,13 +82,13 @@ class DoubleSolenoidTestCTRE {
void testInvalidForwardPort() {
assertThrows(
IllegalArgumentException.class,
() -> new DoubleSolenoid(0, 0, PneumaticsModuleType.CTREPCM, 100, 1));
() -> new DoubleSolenoid(0, 0, PneumaticsModuleType.CTRE_PCM, 100, 1));
}
@Test
void testInvalidReversePort() {
assertThrows(
IllegalArgumentException.class,
() -> new DoubleSolenoid(0, 0, PneumaticsModuleType.CTREPCM, 0, 100));
() -> new DoubleSolenoid(0, 0, PneumaticsModuleType.CTRE_PCM, 0, 100));
}
}

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

@@ -13,7 +13,7 @@ import org.wpilib.hardware.hal.util.AllocationException;
class DoubleSolenoidTestREV {
@Test
void testValidInitialization() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.REVPH, 2, 3)) {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.REV_PH, 2, 3)) {
solenoid.set(DoubleSolenoid.Value.REVERSE);
assertEquals(DoubleSolenoid.Value.REVERSE, solenoid.get());
@@ -29,10 +29,10 @@ class DoubleSolenoidTestREV {
void testThrowForwardPortAlreadyInitialized() {
try (
// Single solenoid that is reused for forward port
Solenoid solenoid = new Solenoid(0, 5, PneumaticsModuleType.REVPH, 2)) {
Solenoid solenoid = new Solenoid(0, 5, PneumaticsModuleType.REV_PH, 2)) {
assertThrows(
AllocationException.class,
() -> new DoubleSolenoid(0, 5, PneumaticsModuleType.REVPH, 2, 3));
() -> new DoubleSolenoid(0, 5, PneumaticsModuleType.REV_PH, 2, 3));
}
}
@@ -40,10 +40,10 @@ class DoubleSolenoidTestREV {
void testThrowReversePortAlreadyInitialized() {
try (
// Single solenoid that is reused for forward port
Solenoid solenoid = new Solenoid(0, 6, PneumaticsModuleType.REVPH, 3)) {
Solenoid solenoid = new Solenoid(0, 6, PneumaticsModuleType.REV_PH, 3)) {
assertThrows(
AllocationException.class,
() -> new DoubleSolenoid(0, 6, PneumaticsModuleType.REVPH, 2, 3));
() -> new DoubleSolenoid(0, 6, PneumaticsModuleType.REV_PH, 2, 3));
}
}
@@ -51,17 +51,17 @@ class DoubleSolenoidTestREV {
void testThrowBothPortsAlreadyInitialized() {
try (
// Single solenoid that is reused for forward port
Solenoid solenoid0 = new Solenoid(0, 6, PneumaticsModuleType.REVPH, 2);
Solenoid solenoid1 = new Solenoid(0, 6, PneumaticsModuleType.REVPH, 3)) {
Solenoid solenoid0 = new Solenoid(0, 6, PneumaticsModuleType.REV_PH, 2);
Solenoid solenoid1 = new Solenoid(0, 6, PneumaticsModuleType.REV_PH, 3)) {
assertThrows(
AllocationException.class,
() -> new DoubleSolenoid(0, 6, PneumaticsModuleType.REVPH, 2, 3));
() -> new DoubleSolenoid(0, 6, PneumaticsModuleType.REV_PH, 2, 3));
}
}
@Test
void testToggle() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 4, PneumaticsModuleType.REVPH, 2, 3)) {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 4, PneumaticsModuleType.REV_PH, 2, 3)) {
// Bootstrap it into reverse
solenoid.set(DoubleSolenoid.Value.REVERSE);
@@ -82,13 +82,13 @@ class DoubleSolenoidTestREV {
void testInvalidForwardPort() {
assertThrows(
IllegalArgumentException.class,
() -> new DoubleSolenoid(0, 1, PneumaticsModuleType.REVPH, 100, 1));
() -> new DoubleSolenoid(0, 1, PneumaticsModuleType.REV_PH, 100, 1));
}
@Test
void testInvalidReversePort() {
assertThrows(
IllegalArgumentException.class,
() -> new DoubleSolenoid(0, 1, PneumaticsModuleType.REVPH, 0, 100));
() -> new DoubleSolenoid(0, 1, PneumaticsModuleType.REV_PH, 0, 100));
}
}

14
wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestCTRE.java
View File

@@ -15,7 +15,7 @@ import org.wpilib.hardware.hal.util.AllocationException;
class SolenoidTestCTRE {
@Test
void testValidInitialization() {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.CTREPCM, 2)) {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.CTRE_PCM, 2)) {
assertEquals(2, solenoid.getChannel());
solenoid.set(true);
@@ -28,17 +28,17 @@ class SolenoidTestCTRE {
@Test
void testDoubleInitialization() {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.CTREPCM, 2)) {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.CTRE_PCM, 2)) {
assertThrows(
AllocationException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.CTREPCM, 2));
AllocationException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.CTRE_PCM, 2));
}
}
@Test
void testDoubleInitializationFromDoubleSolenoid() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.CTREPCM, 2, 3)) {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.CTRE_PCM, 2, 3)) {
assertThrows(
AllocationException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.CTREPCM, 2));
AllocationException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.CTRE_PCM, 2));
}
}
@@ -46,12 +46,12 @@ class SolenoidTestCTRE {
void testInvalidChannel() {
assertThrows(
IllegalArgumentException.class,
() -> new Solenoid(0, 3, PneumaticsModuleType.CTREPCM, 100));
() -> new Solenoid(0, 3, PneumaticsModuleType.CTRE_PCM, 100));
}
@Test
void testToggle() {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.CTREPCM, 2)) {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.CTRE_PCM, 2)) {
solenoid.set(true);
assertTrue(solenoid.get());

14
wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestREV.java
View File

@@ -15,7 +15,7 @@ import org.wpilib.hardware.hal.util.AllocationException;
class SolenoidTestREV {
@Test
void testValidInitialization() {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.REVPH, 2)) {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.REV_PH, 2)) {
assertEquals(2, solenoid.getChannel());
solenoid.set(true);
@@ -28,29 +28,29 @@ class SolenoidTestREV {
@Test
void testDoubleInitialization() {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.REVPH, 2)) {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.REV_PH, 2)) {
assertThrows(
AllocationException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.REVPH, 2));
AllocationException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.REV_PH, 2));
}
}
@Test
void testDoubleInitializationFromDoubleSolenoid() {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.REVPH, 2, 3)) {
try (DoubleSolenoid solenoid = new DoubleSolenoid(0, 3, PneumaticsModuleType.REV_PH, 2, 3)) {
assertThrows(
AllocationException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.REVPH, 2));
AllocationException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.REV_PH, 2));
}
}
@Test
void testInvalidChannel() {
assertThrows(
IllegalArgumentException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.REVPH, 100));
IllegalArgumentException.class, () -> new Solenoid(0, 3, PneumaticsModuleType.REV_PH, 100));
}
@Test
void testToggle() {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.REVPH, 2)) {
try (Solenoid solenoid = new Solenoid(0, 3, PneumaticsModuleType.REV_PH, 2)) {
solenoid.set(true);
assertTrue(solenoid.get());

3
wpilibj/src/test/java/org/wpilib/simulation/CTREPCMSimTest.java
View File

@@ -41,7 +41,8 @@ class CTREPCMSimTest {
HAL.initialize(500, 0);
try (PneumaticsControlModule pcm = new PneumaticsControlModule(0);
DoubleSolenoid doubleSolenoid = new DoubleSolenoid(0, PneumaticsModuleType.CTREPCM, 3, 4)) {
DoubleSolenoid doubleSolenoid =
new DoubleSolenoid(0, PneumaticsModuleType.CTRE_PCM, 3, 4)) {
CTREPCMSim sim = new CTREPCMSim(0);
sim.resetData();

2
wpilibj/src/test/java/org/wpilib/simulation/REVPHSimTest.java
View File

@@ -42,7 +42,7 @@ class REVPHSimTest {
HAL.initialize(500, 0);
try (PneumaticHub ph = new PneumaticHub(1);
DoubleSolenoid doubleSolenoid = new DoubleSolenoid(1, PneumaticsModuleType.REVPH, 3, 4)) {
DoubleSolenoid doubleSolenoid = new DoubleSolenoid(1, PneumaticsModuleType.REV_PH, 3, 4)) {
REVPHSim sim = new REVPHSim(ph);
sim.resetData();

2
wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/HatchSubsystem.java
View File

@@ -19,7 +19,7 @@ public class HatchSubsystem extends SubsystemBase {
private final DoubleSolenoid m_hatchSolenoid =
new DoubleSolenoid(
0,
PneumaticsModuleType.CTREPCM,
PneumaticsModuleType.CTRE_PCM,
HatchConstants.kHatchSolenoidPorts[0],
HatchConstants.kHatchSolenoidPorts[1]);

2
wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/HatchSubsystem.java
View File

@@ -18,7 +18,7 @@ public class HatchSubsystem extends SubsystemBase {
private final DoubleSolenoid m_hatchSolenoid =
new DoubleSolenoid(
0,
PneumaticsModuleType.CTREPCM,
PneumaticsModuleType.CTRE_PCM,
HatchConstants.kHatchSolenoidPorts[0],
HatchConstants.kHatchSolenoidPorts[1]);

2
wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java
View File

@@ -22,7 +22,7 @@ public class Intake extends SubsystemBase {
private final DoubleSolenoid m_pistons =
new DoubleSolenoid(
0,
PneumaticsModuleType.CTREPCM,
PneumaticsModuleType.CTRE_PCM,
IntakeConstants.kSolenoidPorts[0],
IntakeConstants.kSolenoidPorts[1]);

2
wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Pneumatics.java
View File

@@ -25,7 +25,7 @@ public class Pneumatics extends SubsystemBase {
new AnalogPotentiometer(/* the AnalogIn port*/ 2, kScale, kOffset);
// Compressor connected to a PCM with a default CAN ID (0)
private final Compressor m_compressor = new Compressor(0, PneumaticsModuleType.CTREPCM);
private final Compressor m_compressor = new Compressor(0, PneumaticsModuleType.CTRE_PCM);
/**
* Query the analog pressure sensor.

2
wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java
View File

@@ -18,7 +18,7 @@ public class Intake implements AutoCloseable {
m_piston =
new DoubleSolenoid(
0,
PneumaticsModuleType.CTREPCM,
PneumaticsModuleType.CTRE_PCM,
IntakeConstants.kPistonFwdChannel,
IntakeConstants.kPistonRevChannel);
}

6
wpilibjExamples/src/main/java/org/wpilib/snippets/solenoid/Robot.java
View File

@@ -28,15 +28,15 @@ public class Robot extends TimedRobot {
// Solenoid corresponds to a single solenoid.
// In this case, it's connected to channel 0 of a PH with the default CAN ID.
private final Solenoid m_solenoid = new Solenoid(0, PneumaticsModuleType.REVPH, 0);
private final Solenoid m_solenoid = new Solenoid(0, PneumaticsModuleType.REV_PH, 0);
// DoubleSolenoid corresponds to a double solenoid.
// In this case, it's connected to channels 1 and 2 of a PH with the default CAN ID.
private final DoubleSolenoid m_doubleSolenoid =
new DoubleSolenoid(0, PneumaticsModuleType.REVPH, 1, 2);
new DoubleSolenoid(0, PneumaticsModuleType.REV_PH, 1, 2);
// Compressor connected to a PH with a default CAN ID (1)
private final Compressor m_compressor = new Compressor(0, PneumaticsModuleType.REVPH);
private final Compressor m_compressor = new Compressor(0, PneumaticsModuleType.REV_PH);
static final int kSolenoidButton = 1;
static final int kDoubleSolenoidForwardButton = 2;

2
wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java
View File

@@ -31,7 +31,7 @@ class IntakeTest {
IntakeConstants.kMotorPort); // create our simulation PWM motor controller
m_simPiston =
new DoubleSolenoidSim(
PneumaticsModuleType.CTREPCM,
PneumaticsModuleType.CTRE_PCM,
IntakeConstants.kPistonFwdChannel,
IntakeConstants.kPistonRevChannel); // create our simulation solenoid
}