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https://github.com/wpilibsuite/allwpilib
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5598445a67
See https://usfirst.collab.net/sf/tracker/do/viewArtifact/projects.wpilib/tracker.4_defects/artf4148 Change-Id: I47b0d5a91fd49e47e2c7348b0705e998ec815682
51 lines
1.6 KiB
C++
51 lines
1.6 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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#pragma once
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#include "simulation/SimContinuousOutput.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITableListener.h"
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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 LiveWindowSendable, public ITableListener
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{
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public:
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enum Value
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{
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kOff,
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kForward,
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kReverse
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};
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explicit DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel);
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DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, uint32_t 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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void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) override;
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(ITable *subTable) override;
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ITable * GetTable() const override;
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private:
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void InitSolenoid(int slot, int channel1, int channel2);
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SimContinuousOutput* m_impl;
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Value m_value;
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bool m_reversed;
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ITable *m_table;
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};
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