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https://github.com/wpilibsuite/allwpilib
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59 lines
2.0 KiB
C++
59 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2017 FIRST. 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 "networktables/NetworkTableEntry.h"
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namespace frc {
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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, public LiveWindowSendable {
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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 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<nt::NetworkTable> subTable);
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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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nt::NetworkTableEntry m_valueEntry;
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NT_EntryListener m_valueListener = 0;
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};
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} // namespace frc
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