mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-19 00:41:43 +00:00
255a3a5b12
Removed #if 0...#endif from PCM.cpp Change-Id: I2d117c87a3fa10bddebf83706f79c2e767d22a0d Update the HAL to the PCM/PDP changes Change-Id: If554b650e263f174e90864f1e9ffba91daf20f7e Update C++ to the PCM/PDP changes Change-Id: Ia3114d4526be1dc5cc2f74fd8f7ab44f204d15f2 Updated PCM/PDP in Java Change-Id: I8fe03afbcb1739d555e86abc0eaae1e12313d490
67 lines
1.8 KiB
C++
67 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "SolenoidBase.h"
|
|
|
|
// Needs to be global since the protected resource spans all Solenoid objects.
|
|
Resource *SolenoidBase::m_allocated = NULL;
|
|
|
|
/**
|
|
* Constructor
|
|
*
|
|
* @param moduleNumber The solenoid module (1 or 2).
|
|
*/
|
|
SolenoidBase::SolenoidBase(uint8_t moduleNumber)
|
|
: m_moduleNumber (moduleNumber)
|
|
{
|
|
for (uint32_t i = 0; i < kSolenoidChannels; i++)
|
|
{
|
|
void* port = getPortWithModule(moduleNumber, i);
|
|
int32_t status = 0;
|
|
m_ports[i] = initializeSolenoidPort(port, &status);
|
|
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Destructor.
|
|
*/
|
|
SolenoidBase::~SolenoidBase()
|
|
{
|
|
}
|
|
|
|
/**
|
|
* Set the value of a solenoid.
|
|
*
|
|
* @param value The value you want to set on the module.
|
|
* @param mask The channels you want to be affected.
|
|
*/
|
|
void SolenoidBase::Set(uint8_t value, uint8_t mask)
|
|
{
|
|
int32_t status = 0;
|
|
for (int i = 0; i < 8; i++) { // XXX: Unhardcode
|
|
uint8_t local_mask = 1 << i;
|
|
if (mask & local_mask)
|
|
setSolenoid(m_ports[i], value & local_mask, &status);
|
|
}
|
|
wpi_setErrorWithContext(status, getHALErrorMessage(status));
|
|
}
|
|
|
|
/**
|
|
* Read all 8 solenoids as a single byte
|
|
*
|
|
* @return The current value of all 8 solenoids on the module.
|
|
*/
|
|
uint8_t SolenoidBase::GetAll()
|
|
{
|
|
uint8_t value = 0;
|
|
int32_t status = 0;
|
|
for (int i = 0; i < 8; i++) { // XXX: Unhardcode
|
|
value |= getSolenoid(m_ports[i], &status) << i;
|
|
}
|
|
return value;
|
|
}
|