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17cae787e7
This has the same effect but makes it so any user code returning CommandPtr can't discard a returned command. Signed-off-by: Eric Ward <ezeward4@gmail.com>
44 lines
1.4 KiB
C++
44 lines
1.4 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 <frc/AnalogPotentiometer.h>
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#include <frc/Compressor.h>
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#include <frc/PneumaticsControlModule.h>
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#include <frc2/command/CommandPtr.h>
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#include <frc2/command/SubsystemBase.h>
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#include <units/pressure.h>
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#include "Constants.h"
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class Pneumatics : frc2::SubsystemBase {
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public:
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Pneumatics();
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/** Returns a command that disables the compressor indefinitely. */
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frc2::CommandPtr DisableCompressorCommand();
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/**
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* Query the analog pressure sensor.
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*
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* @return the measured pressure, in PSI
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*/
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units::pounds_per_square_inch_t GetPressure();
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private:
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// External analog pressure sensor
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// product-specific voltage->pressure conversion, see product manual
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// in this case, 250(V/5)-25
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// the scale parameter in the AnalogPotentiometer constructor is scaled from
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// 1 instead of 5, so if r is the raw AnalogPotentiometer output, the
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// pressure is 250r-25
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static constexpr double kScale = 250;
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static constexpr double kOffset = -25;
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frc::AnalogPotentiometer m_pressureTransducer{/* the AnalogIn port*/ 2,
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kScale, kOffset};
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// Compressor connected to a PH with a default CAN ID
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frc::Compressor m_compressor{frc::PneumaticsModuleType::CTREPCM};
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};
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