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099fde97d5
Also remove HAL doxygen comments from sources; these functions already had more descriptive comments in their corresponding headers.
107 lines
2.4 KiB
C++
107 lines
2.4 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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#pragma once
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#include <hal/Types.h>
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SendableBuilder;
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/**
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* Class for getting voltage, current, temperature, power and energy from the
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* CAN PDP.
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*/
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class PowerDistributionPanel : public Sendable,
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public SendableHelper<PowerDistributionPanel> {
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public:
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/**
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* Constructs a PowerDistributionPanel.
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*
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* Uses the default CAN ID (0).
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*/
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PowerDistributionPanel();
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/**
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* Constructs a PowerDistributionPanel.
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*
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* @param module The CAN ID of the PDP
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*/
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explicit PowerDistributionPanel(int module);
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PowerDistributionPanel(PowerDistributionPanel&&) = default;
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PowerDistributionPanel& operator=(PowerDistributionPanel&&) = default;
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/**
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* Query the input voltage of the PDP.
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*
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* @return The voltage of the PDP in volts
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*/
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double GetVoltage() const;
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/**
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* Query the temperature of the PDP.
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*
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* @return The temperature of the PDP in degrees Celsius
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*/
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double GetTemperature() const;
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/**
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* Query the current of a single channel of the PDP.
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*
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* @return The current of one of the PDP channels (channels 0-15) in Amperes
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*/
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double GetCurrent(int channel) const;
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/**
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* Query the total current of all monitored PDP channels (0-15).
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*
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* @return The the total current drawn from the PDP channels in Amperes
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*/
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double GetTotalCurrent() const;
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/**
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* Query the total power drawn from the monitored PDP channels.
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*
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* @return The the total power drawn from the PDP channels in Watts
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*/
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double GetTotalPower() const;
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/**
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* Query the total energy drawn from the monitored PDP channels.
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*
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* @return The the total energy drawn from the PDP channels in Joules
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*/
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double GetTotalEnergy() const;
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/**
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* Reset the total energy drawn from the PDP.
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*
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* @see PowerDistributionPanel#GetTotalEnergy
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*/
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void ResetTotalEnergy();
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/**
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* Remove all of the fault flags on the PDP.
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*/
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void ClearStickyFaults();
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/**
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* Gets module number (CAN ID).
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*/
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int GetModule() const;
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void InitSendable(SendableBuilder& builder) override;
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private:
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hal::Handle<HAL_PDPHandle> m_handle;
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int m_module;
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};
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} // namespace frc
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