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https://github.com/wpilibsuite/allwpilib
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49 lines
1.7 KiB
C++
49 lines
1.7 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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* Solenoid class for running high voltage Digital Output (PCM).
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*
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* The Solenoid class is typically used for pneumatics solenoids, but could be
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* used for any device within the current spec of the PCM.
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*/
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class Solenoid : public SolenoidBase,
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public LiveWindowSendable,
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public ITableListener {
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public:
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explicit Solenoid(int channel);
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Solenoid(int moduleNumber, int channel);
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virtual ~Solenoid();
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virtual void Set(bool on);
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virtual bool Get() const;
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bool IsBlackListed() 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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HAL_SolenoidHandle m_solenoidHandle = HAL_kInvalidHandle;
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int m_channel; ///< The channel on the module to control.
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std::shared_ptr<ITable> m_table;
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};
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