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https://github.com/wpilibsuite/allwpilib
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69d9ad70ab
This is the changes made by Patrick Plenefisch converting the native code to use CMake and the CMake Maven Plugin, as opposed to the native Maven plugin. This is to allow for compatibility with newer versions of the GCC toolchain. All the cpp sources were moved from maven style directories to cpp style directories for CMake. Change-Id: I67f5e3608948f37c83b0990d232105a3784f8593
61 lines
1.8 KiB
C++
61 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef COMPRESSOR_H_
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#define COMPRESSOR_H_
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#define COMPRESSOR_PRIORITY 90
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#include "SensorBase.h"
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#include "Relay.h"
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#include "Task.h"
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#include "LiveWindow/LiveWindowSendable.h"
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class DigitalInput;
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/**
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* Compressor object.
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* The Compressor object is designed to handle the operation of the compressor, pressure sensor and
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* relay for a FIRST robot pneumatics system. The Compressor object starts a task which runs in the
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* backround and periodically polls the pressure sensor and operates the relay that controls the
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* compressor.
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*/
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class Compressor: public SensorBase, public LiveWindowSendable
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{
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public:
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Compressor(uint32_t pressureSwitchChannel, uint32_t compressorRelayChannel);
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Compressor(uint8_t pressureSwitchModuleNumber, uint32_t pressureSwitchChannel,
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uint8_t compresssorRelayModuleNumber, uint32_t compressorRelayChannel);
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~Compressor();
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void Start();
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void Stop();
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bool Enabled();
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uint32_t GetPressureSwitchValue();
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void SetRelayValue(Relay::Value relayValue);
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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();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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private:
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void InitCompressor(uint8_t pressureSwitchModuleNumber, uint32_t pressureSwitchChannel,
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uint8_t compresssorRelayModuleNumber, uint32_t compressorRelayChannel);
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DigitalInput *m_pressureSwitch;
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Relay *m_relay;
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bool m_enabled;
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Task m_task;
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ITable *m_table;
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};
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#endif
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