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https://github.com/wpilibsuite/allwpilib
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58 lines
2.2 KiB
C++
58 lines
2.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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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#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 "SolenoidBase.h"
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#include "tables/ITableListener.h"
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/**
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* DoubleSolenoid class for running 2 channels of high voltage Digital Output
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* (PCM).
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*
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* The DoubleSolenoid class is typically used for pneumatics solenoids that
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* have two positions controlled by two separate channels.
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*/
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class DoubleSolenoid : public SolenoidBase,
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public LiveWindowSendable,
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public ITableListener {
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public:
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enum Value { kOff, kForward, kReverse };
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explicit DoubleSolenoid(int forwardChannel, int reverseChannel);
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DoubleSolenoid(int moduleNumber, int forwardChannel, int reverseChannel);
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virtual ~DoubleSolenoid();
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virtual void Set(Value value);
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virtual Value Get() const;
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bool IsFwdSolenoidBlackListed() const;
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bool IsRevSolenoidBlackListed() const;
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew);
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType() const;
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void InitTable(std::shared_ptr<ITable> subTable);
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std::shared_ptr<ITable> GetTable() const;
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private:
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int m_forwardChannel; ///< The forward channel on the module to control.
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int m_reverseChannel; ///< The reverse channel on the module to control.
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int m_forwardMask; ///< The mask for the forward channel.
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int m_reverseMask; ///< The mask for the reverse channel.
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HAL_SolenoidHandle m_forwardHandle = HAL_kInvalidHandle;
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HAL_SolenoidHandle m_reverseHandle = HAL_kInvalidHandle;
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std::shared_ptr<ITable> m_table;
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};
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