mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-28 02:11:43 +00:00
7c09f44898
This adds the REV Analog Pressure Sensor PSI to volt (and vice versa) conversion to allow setting the compressor config in PSI and getting the sensor reading in PSI. Also adds input validation for pressure values at the higher level. Co-authored-by: Tyler Veness <calcmogul@gmail.com>
152 lines
3.9 KiB
C++
152 lines
3.9 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
#pragma once
|
|
|
|
#include <memory>
|
|
|
|
#include <hal/Types.h>
|
|
#include <wpi/DenseMap.h>
|
|
#include <wpi/mutex.h>
|
|
|
|
#include "PneumaticsBase.h"
|
|
|
|
namespace frc {
|
|
class PneumaticHub : public PneumaticsBase {
|
|
public:
|
|
PneumaticHub();
|
|
explicit PneumaticHub(int module);
|
|
|
|
~PneumaticHub() override = default;
|
|
|
|
bool GetCompressor() const override;
|
|
|
|
void DisableCompressor() override;
|
|
|
|
void EnableCompressorDigital() override;
|
|
|
|
void EnableCompressorAnalog(
|
|
units::pounds_per_square_inch_t minPressure,
|
|
units::pounds_per_square_inch_t maxPressure) override;
|
|
|
|
void EnableCompressorHybrid(
|
|
units::pounds_per_square_inch_t minPressure,
|
|
units::pounds_per_square_inch_t maxPressure) override;
|
|
|
|
CompressorConfigType GetCompressorConfigType() const override;
|
|
|
|
bool GetPressureSwitch() const override;
|
|
|
|
units::ampere_t GetCompressorCurrent() const override;
|
|
|
|
void SetSolenoids(int mask, int values) override;
|
|
|
|
int GetSolenoids() const override;
|
|
|
|
int GetModuleNumber() const override;
|
|
|
|
int GetSolenoidDisabledList() const override;
|
|
|
|
void FireOneShot(int index) override;
|
|
|
|
void SetOneShotDuration(int index, units::second_t duration) override;
|
|
|
|
bool CheckSolenoidChannel(int channel) const override;
|
|
|
|
int CheckAndReserveSolenoids(int mask) override;
|
|
|
|
void UnreserveSolenoids(int mask) override;
|
|
|
|
bool ReserveCompressor() override;
|
|
|
|
void UnreserveCompressor() override;
|
|
|
|
Solenoid MakeSolenoid(int channel) override;
|
|
DoubleSolenoid MakeDoubleSolenoid(int forwardChannel,
|
|
int reverseChannel) override;
|
|
Compressor MakeCompressor() override;
|
|
|
|
struct Version {
|
|
uint32_t FirmwareMajor;
|
|
uint32_t FirmwareMinor;
|
|
uint32_t FirmwareFix;
|
|
uint32_t HardwareMinor;
|
|
uint32_t HardwareMajor;
|
|
uint32_t UniqueId;
|
|
};
|
|
|
|
Version GetVersion() const;
|
|
|
|
struct Faults {
|
|
uint32_t Channel0Fault : 1;
|
|
uint32_t Channel1Fault : 1;
|
|
uint32_t Channel2Fault : 1;
|
|
uint32_t Channel3Fault : 1;
|
|
uint32_t Channel4Fault : 1;
|
|
uint32_t Channel5Fault : 1;
|
|
uint32_t Channel6Fault : 1;
|
|
uint32_t Channel7Fault : 1;
|
|
uint32_t Channel8Fault : 1;
|
|
uint32_t Channel9Fault : 1;
|
|
uint32_t Channel10Fault : 1;
|
|
uint32_t Channel11Fault : 1;
|
|
uint32_t Channel12Fault : 1;
|
|
uint32_t Channel13Fault : 1;
|
|
uint32_t Channel14Fault : 1;
|
|
uint32_t Channel15Fault : 1;
|
|
uint32_t CompressorOverCurrent : 1;
|
|
uint32_t CompressorOpen : 1;
|
|
uint32_t SolenoidOverCurrent : 1;
|
|
uint32_t Brownout : 1;
|
|
uint32_t CanWarning : 1;
|
|
uint32_t HardwareFault : 1;
|
|
};
|
|
|
|
Faults GetFaults() const;
|
|
|
|
struct StickyFaults {
|
|
uint32_t CompressorOverCurrent : 1;
|
|
uint32_t CompressorOpen : 1;
|
|
uint32_t SolenoidOverCurrent : 1;
|
|
uint32_t Brownout : 1;
|
|
uint32_t CanWarning : 1;
|
|
uint32_t CanBusOff : 1;
|
|
uint32_t HasReset : 1;
|
|
};
|
|
|
|
StickyFaults GetStickyFaults() const;
|
|
|
|
void ClearStickyFaults();
|
|
|
|
units::volt_t GetInputVoltage() const;
|
|
|
|
units::volt_t Get5VRegulatedVoltage() const;
|
|
|
|
units::ampere_t GetSolenoidsTotalCurrent() const;
|
|
|
|
units::volt_t GetSolenoidsVoltage() const;
|
|
|
|
units::volt_t GetAnalogVoltage(int channel) const override;
|
|
|
|
units::pounds_per_square_inch_t GetPressure(int channel) const override;
|
|
|
|
private:
|
|
class DataStore;
|
|
friend class DataStore;
|
|
friend class PneumaticsBase;
|
|
PneumaticHub(HAL_REVPHHandle handle, int module);
|
|
|
|
static std::shared_ptr<PneumaticsBase> GetForModule(int module);
|
|
|
|
std::shared_ptr<DataStore> m_dataStore;
|
|
HAL_REVPHHandle m_handle;
|
|
int m_module;
|
|
|
|
static wpi::mutex m_handleLock;
|
|
static std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<DataStore>>>
|
|
m_handleMap;
|
|
static std::weak_ptr<DataStore>& GetDataStore(int module);
|
|
};
|
|
} // namespace frc
|