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https://github.com/wpilibsuite/allwpilib
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7c09f44898
This adds the REV Analog Pressure Sensor PSI to volt (and vice versa) conversion to allow setting the compressor config in PSI and getting the sensor reading in PSI. Also adds input validation for pressure values at the higher level. Co-authored-by: Tyler Veness <calcmogul@gmail.com>
92 lines
2.5 KiB
C++
92 lines
2.5 KiB
C++
// 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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#include "frc/Compressor.h"
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#include <hal/FRCUsageReporting.h>
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#include <hal/Ports.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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#include "frc/Errors.h"
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using namespace frc;
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Compressor::Compressor(int module, PneumaticsModuleType moduleType)
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: m_module{PneumaticsBase::GetForType(module, moduleType)} {
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if (!m_module->ReserveCompressor()) {
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throw FRC_MakeError(err::ResourceAlreadyAllocated, "{}", module);
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}
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m_module->EnableCompressorDigital();
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HAL_Report(HALUsageReporting::kResourceType_Compressor, module + 1);
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wpi::SendableRegistry::AddLW(this, "Compressor", module);
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}
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Compressor::Compressor(PneumaticsModuleType moduleType)
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: Compressor{PneumaticsBase::GetDefaultForType(moduleType), moduleType} {}
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Compressor::~Compressor() {
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m_module->UnreserveCompressor();
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}
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void Compressor::Start() {
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EnableDigital();
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}
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void Compressor::Stop() {
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Disable();
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}
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bool Compressor::Enabled() const {
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return m_module->GetCompressor();
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}
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bool Compressor::GetPressureSwitchValue() const {
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return m_module->GetPressureSwitch();
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}
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units::ampere_t Compressor::GetCurrent() const {
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return m_module->GetCompressorCurrent();
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}
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units::volt_t Compressor::GetAnalogVoltage() const {
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return m_module->GetAnalogVoltage(0);
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}
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units::pounds_per_square_inch_t Compressor::GetPressure() const {
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return m_module->GetPressure(0);
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}
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void Compressor::Disable() {
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m_module->DisableCompressor();
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}
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void Compressor::EnableDigital() {
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m_module->EnableCompressorDigital();
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}
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void Compressor::EnableAnalog(units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure) {
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m_module->EnableCompressorAnalog(minPressure, maxPressure);
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}
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void Compressor::EnableHybrid(units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure) {
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m_module->EnableCompressorHybrid(minPressure, maxPressure);
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}
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CompressorConfigType Compressor::GetConfigType() const {
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return m_module->GetCompressorConfigType();
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}
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void Compressor::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Compressor");
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builder.AddBooleanProperty(
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"Enabled", [=] { return Enabled(); }, nullptr);
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builder.AddBooleanProperty(
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"Pressure switch", [=]() { return GetPressureSwitchValue(); }, nullptr);
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}
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