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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
108 lines
2.9 KiB
C++
108 lines
2.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2016. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#include "HAL/Solenoid.hpp"
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#include "HAL/Port.h"
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#include "HAL/Errors.hpp"
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#include "ChipObject.h"
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#include "FRC_NetworkCommunication/LoadOut.h"
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#include "ctre/PCM.h"
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static const int NUM_MODULE_NUMBERS = 63;
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PCM *PCM_modules[NUM_MODULE_NUMBERS] = { NULL };
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struct solenoid_port_t {
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PCM *module;
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uint32_t pin;
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};
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void initializePCM(int module) {
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if(!PCM_modules[module]) {
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PCM_modules[module] = new PCM(module);
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}
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}
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extern "C" {
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void* initializeSolenoidPort(void *port_pointer, int32_t *status) {
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Port* port = (Port*) port_pointer;
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initializePCM(port->module);
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solenoid_port_t *solenoid_port = new solenoid_port_t;
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solenoid_port->module = PCM_modules[port->module];
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solenoid_port->pin = port->pin;
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return solenoid_port;
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}
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void freeSolenoidPort(void* solenoid_port_pointer) {
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solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
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delete port;
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}
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bool checkSolenoidModule(uint8_t module) {
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return module < NUM_MODULE_NUMBERS;
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}
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bool getSolenoid(void* solenoid_port_pointer, int32_t *status) {
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solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
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bool value;
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*status = port->module->GetSolenoid(port->pin, value);
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return value;
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}
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uint8_t getAllSolenoids(void* solenoid_port_pointer, int32_t *status) {
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solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
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uint8_t value;
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*status = port->module->GetAllSolenoids(value);
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return value;
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}
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void setSolenoid(void* solenoid_port_pointer, bool value, int32_t *status) {
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solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
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*status = port->module->SetSolenoid(port->pin, value);
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}
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int getPCMSolenoidBlackList(void* solenoid_port_pointer, int32_t *status){
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solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
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UINT8 value;
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*status = port->module->GetSolenoidBlackList(value);
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return value;
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}
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bool getPCMSolenoidVoltageStickyFault(void* solenoid_port_pointer, int32_t *status){
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solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
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bool value;
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*status = port->module->GetSolenoidStickyFault(value);
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return value;
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}
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bool getPCMSolenoidVoltageFault(void* solenoid_port_pointer, int32_t *status){
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solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
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bool value;
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*status = port->module->GetSolenoidFault(value);
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return value;
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}
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void clearAllPCMStickyFaults_sol(void *solenoid_port_pointer, int32_t *status){
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solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
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*status = port->module->ClearStickyFaults();
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}
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} // extern "C"
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