mirror of
https://github.com/wpilibsuite/allwpilib
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80 lines
2.7 KiB
C++
80 lines
2.7 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2017 FIRST. 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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#pragma once
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#include <memory>
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#include <string>
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#include <HAL/Types.h>
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#include "LiveWindow/LiveWindowSendable.h"
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#include "SensorBase.h"
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#include "networktables/NetworkTableEntry.h"
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namespace frc {
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/**
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* Class for operating a compressor connected to a %PCM (Pneumatic Control
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* Module). The %PCM will automatically run in closed loop mode by default
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* whenever a Solenoid object is created. For most cases, a Compressor object
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* does not need to be instantiated or used in a robot program. This class is
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* only required in cases where the robot program needs a more detailed status
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* of the compressor or to enable/disable closed loop control.
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*
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* Note: you cannot operate the compressor directly from this class as doing so
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* would circumvent the safety provided by using the pressure switch and closed
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* loop control. You can only turn off closed loop control, thereby stopping
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* the compressor from operating.
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*/
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class Compressor : public SensorBase, public LiveWindowSendable {
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public:
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// Default PCM ID is 0
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explicit Compressor(int pcmID = GetDefaultSolenoidModule());
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virtual ~Compressor();
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void Start();
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void Stop();
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bool Enabled() const;
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bool GetPressureSwitchValue() const;
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double GetCompressorCurrent() const;
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void SetClosedLoopControl(bool on);
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bool GetClosedLoopControl() const;
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bool GetCompressorCurrentTooHighFault() const;
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bool GetCompressorCurrentTooHighStickyFault() const;
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bool GetCompressorShortedStickyFault() const;
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bool GetCompressorShortedFault() const;
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bool GetCompressorNotConnectedStickyFault() const;
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bool GetCompressorNotConnectedFault() const;
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void ClearAllPCMStickyFaults();
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<nt::NetworkTable> subTable) override;
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std::shared_ptr<nt::NetworkTable> GetTable() const override;
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protected:
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HAL_CompressorHandle m_compressorHandle;
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private:
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void SetCompressor(bool on);
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int m_module;
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std::shared_ptr<nt::NetworkTable> m_table;
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nt::NetworkTableEntry m_enabledEntry;
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nt::NetworkTableEntry m_pressureSwitchEntry;
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NT_EntryListener m_enabledListener = 0;
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};
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} // namespace frc
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