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[examples] Improve Pneumatics example coverage in Solenoid and RapidReactCmdBot examples (#4998)
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Starlight220
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include <frc/DoubleSolenoid.h>
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#include <frc/Joystick.h>
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#include <frc/PneumaticsControlModule.h>
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#include <frc/Solenoid.h>
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#include <frc/TimedRobot.h>
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#include "Robot.h"
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/**
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* This is a sample program showing the use of the solenoid classes during
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* operator control.
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*
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* Three buttons from a joystick will be used to control two solenoids: One
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* button to control the position of a single solenoid and the other two buttons
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* to control a double solenoid.
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*
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* Single solenoids can either be on or off, such that the air diverted through
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* them goes through either one channel or the other.
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*
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* Double solenoids have three states: Off, Forward, and Reverse. Forward and
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* Reverse divert the air through the two channels and correspond to the on and
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* off of a single solenoid, but a double solenoid can also be "off", where both
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* channels are diverted to exhaust such that there is no pressure in either
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* channel.
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*
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* Additionally, double solenoids take up two channels on your PCM whereas
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* single solenoids only take a single channel.
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*/
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class Robot : public frc::TimedRobot {
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public:
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void TeleopPeriodic() override {
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/* The output of GetRawButton is true/false depending on whether the button
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* is pressed; Set takes a boolean for for whether to use the default
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* (false) channel or the other (true).
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*/
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m_solenoid.Set(m_stick.GetRawButton(kSolenoidButton));
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#include <frc/shuffleboard/Shuffleboard.h>
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#include <units/pressure.h>
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/* In order to set the double solenoid, we will say that if neither button
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* is pressed, it is off, if just one button is pressed, set the solenoid to
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* correspond to that button, and if both are pressed, set the solenoid to
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* Forwards.
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*/
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if (m_stick.GetRawButton(kDoubleSolenoidForward)) {
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m_doubleSolenoid.Set(frc::DoubleSolenoid::kForward);
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} else if (m_stick.GetRawButton(kDoubleSolenoidReverse)) {
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m_doubleSolenoid.Set(frc::DoubleSolenoid::kReverse);
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} else {
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m_doubleSolenoid.Set(frc::DoubleSolenoid::kOff);
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}
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void Robot::RobotInit() {
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// Publish elements to shuffleboard.
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frc::ShuffleboardTab& tab = frc::Shuffleboard::GetTab("Pneumatics");
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tab.Add("Single Solenoid", m_solenoid);
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tab.Add("Double Solenoid", m_doubleSolenoid);
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tab.Add("Compressor", m_compressor);
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// Also publish some raw data
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tab.AddDouble("PH Pressure [PSI]", [&] {
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// Get the pressure (in PSI) from the analog sensor connected to the PH.
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// This function is supported only on the PH!
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// On a PCM, this function will return 0.
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units::pounds_per_square_inch_t pressure = m_compressor.GetPressure();
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return pressure.value();
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});
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tab.AddDouble("Compressor Current", [&] {
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// Get compressor current draw.
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units::ampere_t compressorCurrent = m_compressor.GetCurrent();
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return compressorCurrent.value();
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});
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tab.AddBoolean("Compressor Active", [&] {
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// Get whether the compressor is active.
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return m_compressor.IsEnabled();
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});
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tab.AddBoolean("Pressure Switch", [&] {
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// Get the digital pressure switch connected to the PCM/PH.
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// The switch is open when the pressure is over ~120 PSI.
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return m_compressor.GetPressureSwitchValue();
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});
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}
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void Robot::TeleopPeriodic() {
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/*
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* The output of GetRawButton is true/false depending on whether
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* the button is pressed; Set takes a boolean for whether
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* to retract the solenoid (false) or extend it (true).
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*/
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m_solenoid.Set(m_stick.GetRawButton(kSolenoidButton));
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/*
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* GetRawButtonPressed will only return true once per press.
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* If a button is pressed, set the solenoid to the respective channel.
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*/
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if (m_stick.GetRawButtonPressed(kDoubleSolenoidForward)) {
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m_doubleSolenoid.Set(frc::DoubleSolenoid::kForward);
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} else if (m_stick.GetRawButtonPressed(kDoubleSolenoidReverse)) {
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m_doubleSolenoid.Set(frc::DoubleSolenoid::kReverse);
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}
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private:
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frc::Joystick m_stick{0};
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// Solenoid corresponds to a single solenoid.
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frc::Solenoid m_solenoid{frc::PneumaticsModuleType::CTREPCM, 0};
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// DoubleSolenoid corresponds to a double solenoid.
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frc::DoubleSolenoid m_doubleSolenoid{frc::PneumaticsModuleType::CTREPCM, 1,
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2};
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static constexpr int kSolenoidButton = 1;
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static constexpr int kDoubleSolenoidForward = 2;
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static constexpr int kDoubleSolenoidReverse = 3;
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};
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// On button press, toggle the compressor with the mode selected from the
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// dashboard.
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if (m_stick.GetRawButtonPressed(kCompressorButton)) {
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// Check whether the compressor is currently enabled.
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bool isCompressorEnabled = m_compressor.IsEnabled();
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if (isCompressorEnabled) {
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// Disable closed-loop mode on the compressor.
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m_compressor.Disable();
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} else {
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// Change the if directives to select the closed-loop mode you want to
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// use:
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#if 0
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// Enable closed-loop mode based on the digital pressure switch
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// connected to the PCM/PH.
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m_compressor.EnableDigital();
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#endif
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#if 1
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// Enable closed-loop mode based on the analog pressure sensor connected
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// to the PH. The compressor will run while the pressure reported by the
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// sensor is in the specified range ([70 PSI, 120 PSI] in this example).
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// Analog mode exists only on the PH! On the PCM, this enables digital
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// control.
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m_compressor.EnableAnalog(70_psi, 120_psi);
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#endif
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#if 0
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// Enable closed-loop mode based on both the digital pressure switch AND the analog
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// pressure sensor connected to the PH.
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// The compressor will run while the pressure reported by the analog sensor is in the
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// specified range ([70 PSI, 120 PSI] in this example) AND the digital switch reports
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// that the system is not full.
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// Hybrid mode exists only on the PH! On the PCM, this enables digital control.
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m_compressor.EnableHybrid(70_psi, 120_psi);
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#endif
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}
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}
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}
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#ifndef RUNNING_FRC_TESTS
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int main() {
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@@ -0,0 +1,61 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <frc/AnalogPotentiometer.h>
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#include <frc/Compressor.h>
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#include <frc/DoubleSolenoid.h>
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#include <frc/Joystick.h>
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#include <frc/PneumaticsControlModule.h>
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#include <frc/Solenoid.h>
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#include <frc/TimedRobot.h>
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/**
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* This is a sample program showing the use of the solenoid classes during
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* operator control.
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*
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* Three buttons from a joystick will be used to control two solenoids: One
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* button to control the position of a single solenoid and the other two buttons
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* to control a double solenoid.
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*
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* Single solenoids can either be on or off, such that the air diverted through
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* them goes through either one channel or the other.
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*
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* Double solenoids have three states: Off, Forward, and Reverse. Forward and
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* Reverse divert the air through the two channels and correspond to the on and
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* off of a single solenoid, but a double solenoid can also be "off", where both
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* channels are diverted to exhaust such that there is no pressure in either
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* channel.
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*
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* Additionally, double solenoids take up two channels on your PCM whereas
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* single solenoids only take a single channel.
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*/
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class Robot : public frc::TimedRobot {
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public:
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void RobotInit() override;
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void TeleopPeriodic() override;
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private:
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frc::Joystick m_stick{0};
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// Solenoid corresponds to a single solenoid.
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// In this case, it's connected to channel 0 of a PH with the default CAN
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// ID.
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frc::Solenoid m_solenoid{frc::PneumaticsModuleType::REVPH, 0};
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// DoubleSolenoid corresponds to a double solenoid.
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// In this case, it's connected to channels 1 and 2 of a PH with the default
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// CAN ID.
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frc::DoubleSolenoid m_doubleSolenoid{frc::PneumaticsModuleType::REVPH, 1, 2};
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// Compressor connected to a PH with a default CAN ID
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frc::Compressor m_compressor{frc::PneumaticsModuleType::REVPH};
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static constexpr int kSolenoidButton = 1;
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static constexpr int kDoubleSolenoidForward = 2;
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static constexpr int kDoubleSolenoidReverse = 3;
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static constexpr int kCompressorButton = 4;
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};
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