diff --git a/robotpyExamples/HatchbotInlined/constants.py b/robotpyExamples/HatchbotInlined/constants.py index 4d05a53903..4790b0f1d1 100644 --- a/robotpyExamples/HatchbotInlined/constants.py +++ b/robotpyExamples/HatchbotInlined/constants.py @@ -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) diff --git a/robotpyExamples/HatchbotTraditional/constants.py b/robotpyExamples/HatchbotTraditional/constants.py index 4d05a53903..4790b0f1d1 100644 --- a/robotpyExamples/HatchbotTraditional/constants.py +++ b/robotpyExamples/HatchbotTraditional/constants.py @@ -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) diff --git a/robotpyExamples/RapidReactCommandBot/subsystems/intake.py b/robotpyExamples/RapidReactCommandBot/subsystems/intake.py index e5b44778ff..0d817a8604 100644 --- a/robotpyExamples/RapidReactCommandBot/subsystems/intake.py +++ b/robotpyExamples/RapidReactCommandBot/subsystems/intake.py @@ -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], ) diff --git a/robotpyExamples/RapidReactCommandBot/subsystems/pneumatics.py b/robotpyExamples/RapidReactCommandBot/subsystems/pneumatics.py index 57ddcaa144..0e2a6bb7f6 100644 --- a/robotpyExamples/RapidReactCommandBot/subsystems/pneumatics.py +++ b/robotpyExamples/RapidReactCommandBot/subsystems/pneumatics.py @@ -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. diff --git a/robotpyExamples/Solenoid/robot.py b/robotpyExamples/Solenoid/robot.py index af088eca70..cac1c7f1bd 100644 --- a/robotpyExamples/Solenoid/robot.py +++ b/robotpyExamples/Solenoid/robot.py @@ -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. diff --git a/robotpyExamples/UnitTest/subsystems/intake.py b/robotpyExamples/UnitTest/subsystems/intake.py index 9b585e6ace..d330d9b6ea 100644 --- a/robotpyExamples/UnitTest/subsystems/intake.py +++ b/robotpyExamples/UnitTest/subsystems/intake.py @@ -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, ) diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp index 8044f4f97e..737023c578 100644 --- a/wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp +++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/Compressor.cpp @@ -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); diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp index 33e96c9962..00155f374a 100644 --- a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp +++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticHub.cpp @@ -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) { diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp index 389aeb532e..d25b427261 100644 --- a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp +++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsBase.cpp @@ -29,9 +29,9 @@ static_assert( std::shared_ptr 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::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, "{}", diff --git a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp index 0dbf71d0a8..2201500132 100644 --- a/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp +++ b/wpilibc/src/main/native/cpp/hardware/pneumatic/PneumaticsControlModule.cpp @@ -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, diff --git a/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp b/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp index 667a901f18..90dccd8681 100644 --- a/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp +++ b/wpilibc/src/main/native/cpp/simulation/PneumaticsBaseSim.cpp @@ -17,10 +17,10 @@ using namespace wpi::sim; std::shared_ptr PneumaticsBaseSim::GetForType( int module, PneumaticsModuleType type) { switch (type) { - case PneumaticsModuleType::REVPH: + case PneumaticsModuleType::REV_PH: return std::make_shared(module); - case PneumaticsModuleType::CTREPCM: + case PneumaticsModuleType::CTRE_PCM: return std::make_shared(module); default: diff --git a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsModuleType.hpp b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsModuleType.hpp index 39b5e6cc97..4ad7e5aa06 100644 --- a/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsModuleType.hpp +++ b/wpilibc/src/main/native/include/wpi/hardware/pneumatic/PneumaticsModuleType.hpp @@ -10,8 +10,8 @@ namespace wpi { */ enum class PneumaticsModuleType { /// CTRE PCM. - CTREPCM, + CTRE_PCM, /// REV PH. - REVPH + REV_PH }; } // namespace wpi diff --git a/wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp b/wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp index 04195b79e0..551132dd9c 100644 --- a/wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp +++ b/wpilibc/src/test/native/cpp/DoubleSolenoidTestCTRE.cpp @@ -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 diff --git a/wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp b/wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp index 07713c68ec..f040ccc5bf 100644 --- a/wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp +++ b/wpilibc/src/test/native/cpp/DoubleSolenoidTestREV.cpp @@ -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 diff --git a/wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp b/wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp index a1e5afe25d..9729c59bed 100644 --- a/wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp +++ b/wpilibc/src/test/native/cpp/SolenoidTestCTRE.cpp @@ -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()); diff --git a/wpilibc/src/test/native/cpp/SolenoidTestREV.cpp b/wpilibc/src/test/native/cpp/SolenoidTestREV.cpp index bb85dff571..7aeac4a142 100644 --- a/wpilibc/src/test/native/cpp/SolenoidTestREV.cpp +++ b/wpilibc/src/test/native/cpp/SolenoidTestREV.cpp @@ -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()); diff --git a/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp index a54919004a..6476856a64 100644 --- a/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp +++ b/wpilibc/src/test/native/cpp/simulation/CTREPCMSimTest.cpp @@ -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; diff --git a/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp b/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp index 5548a80842..3ef2230075 100644 --- a/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp +++ b/wpilibc/src/test/native/cpp/simulation/REVPHSimTest.cpp @@ -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; diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp index 85e64657f0..be653352f4 100644 --- a/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp +++ b/wpilibcExamples/src/main/cpp/examples/HatchbotInlined/cpp/subsystems/HatchSubsystem.cpp @@ -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() { diff --git a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp index 7dce9987fb..1a3e6bc986 100644 --- a/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp +++ b/wpilibcExamples/src/main/cpp/examples/HatchbotTraditional/cpp/subsystems/HatchSubsystem.cpp @@ -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() { diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp index b782977b12..d8b393dc10 100644 --- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp +++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Intake.hpp @@ -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]}; }; diff --git a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp index 3b9814a871..6f6763f5a4 100644 --- a/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp +++ b/wpilibcExamples/src/main/cpp/examples/RapidReactCommandBot/include/subsystems/Pneumatics.hpp @@ -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}; }; diff --git a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp index dd05bb211f..3d0c33b5f1 100644 --- a/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp +++ b/wpilibcExamples/src/main/cpp/examples/UnitTest/include/subsystems/Intake.hpp @@ -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}; }; diff --git a/wpilibcExamples/src/main/cpp/snippets/Solenoid/include/Robot.hpp b/wpilibcExamples/src/main/cpp/snippets/Solenoid/include/Robot.hpp index 0930419747..7cc42500cd 100644 --- a/wpilibcExamples/src/main/cpp/snippets/Solenoid/include/Robot.hpp +++ b/wpilibcExamples/src/main/cpp/snippets/Solenoid/include/Robot.hpp @@ -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; diff --git a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp index 214d5ce1f2..b5caefe11b 100644 --- a/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp +++ b/wpilibcExamples/src/test/cpp/examples/UnitTest/cpp/subsystems/IntakeTest.cpp @@ -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 }; diff --git a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/Compressor.java b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/Compressor.java index 8dbf6162d0..89282adf94 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/Compressor.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/Compressor.java @@ -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); } diff --git a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticHub.java b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticHub.java index 63d6a82f10..35e5e4a12b 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticHub.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticHub.java @@ -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 diff --git a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsBase.java b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsBase.java index 3016266936..f346b903cf 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsBase.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsBase.java @@ -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(); }; } diff --git a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsControlModule.java b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsControlModule.java index 5f07acb85c..da16079f77 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsControlModule.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsControlModule.java @@ -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 diff --git a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsModuleType.java b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsModuleType.java index 62a2629f78..2792aff2a9 100644 --- a/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsModuleType.java +++ b/wpilibj/src/main/java/org/wpilib/hardware/pneumatic/PneumaticsModuleType.java @@ -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 } diff --git a/wpilibj/src/main/java/org/wpilib/simulation/PneumaticsBaseSim.java b/wpilibj/src/main/java/org/wpilib/simulation/PneumaticsBaseSim.java index 3b5931b780..4bdec931c2 100644 --- a/wpilibj/src/main/java/org/wpilib/simulation/PneumaticsBaseSim.java +++ b/wpilibj/src/main/java/org/wpilib/simulation/PneumaticsBaseSim.java @@ -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); }; } diff --git a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestCTRE.java b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestCTRE.java index 898b6b7b27..4fb06673ec 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestCTRE.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestCTRE.java @@ -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)); } } diff --git a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestREV.java b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestREV.java index e5d00caec2..24a5117f8e 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestREV.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/DoubleSolenoidTestREV.java @@ -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)); } } diff --git a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestCTRE.java b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestCTRE.java index 587f3926f4..5c53c864b3 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestCTRE.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestCTRE.java @@ -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()); diff --git a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestREV.java b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestREV.java index 6d6eb2d14e..6c7f1fa74d 100644 --- a/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestREV.java +++ b/wpilibj/src/test/java/org/wpilib/hardware/pneumatic/SolenoidTestREV.java @@ -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()); diff --git a/wpilibj/src/test/java/org/wpilib/simulation/CTREPCMSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/CTREPCMSimTest.java index 0571d50078..35b7d1a214 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/CTREPCMSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/CTREPCMSimTest.java @@ -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(); diff --git a/wpilibj/src/test/java/org/wpilib/simulation/REVPHSimTest.java b/wpilibj/src/test/java/org/wpilib/simulation/REVPHSimTest.java index de9dd34415..5bd7bd6e3b 100644 --- a/wpilibj/src/test/java/org/wpilib/simulation/REVPHSimTest.java +++ b/wpilibj/src/test/java/org/wpilib/simulation/REVPHSimTest.java @@ -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(); diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/HatchSubsystem.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/HatchSubsystem.java index d5d0a39a2d..efecfd3f54 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/HatchSubsystem.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbotinlined/subsystems/HatchSubsystem.java @@ -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]); diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/HatchSubsystem.java b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/HatchSubsystem.java index e422d78e83..ce0f0e217d 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/HatchSubsystem.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/hatchbottraditional/subsystems/HatchSubsystem.java @@ -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]); diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java index 998d55a96d..5710e9c0df 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Intake.java @@ -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]); diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Pneumatics.java b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Pneumatics.java index 2aaf5c5900..12caca5af9 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Pneumatics.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/rapidreactcommandbot/subsystems/Pneumatics.java @@ -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. diff --git a/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java b/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java index 4941b7e443..063663d6ed 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java +++ b/wpilibjExamples/src/main/java/org/wpilib/examples/unittest/subsystems/Intake.java @@ -18,7 +18,7 @@ public class Intake implements AutoCloseable { m_piston = new DoubleSolenoid( 0, - PneumaticsModuleType.CTREPCM, + PneumaticsModuleType.CTRE_PCM, IntakeConstants.kPistonFwdChannel, IntakeConstants.kPistonRevChannel); } diff --git a/wpilibjExamples/src/main/java/org/wpilib/snippets/solenoid/Robot.java b/wpilibjExamples/src/main/java/org/wpilib/snippets/solenoid/Robot.java index 70ded4c656..430dbedb00 100644 --- a/wpilibjExamples/src/main/java/org/wpilib/snippets/solenoid/Robot.java +++ b/wpilibjExamples/src/main/java/org/wpilib/snippets/solenoid/Robot.java @@ -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; diff --git a/wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java b/wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java index 6b731fc91d..aada8fef21 100644 --- a/wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java +++ b/wpilibjExamples/src/test/java/org/wpilib/examples/unittest/subsystems/IntakeTest.java @@ -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 }