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https://github.com/wpilibsuite/allwpilib
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471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
104 lines
2.8 KiB
C++
104 lines
2.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 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 <hal/Types.h>
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#include "frc/SolenoidBase.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SendableBuilder;
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/**
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* Solenoid class for running high voltage Digital Output (PCM).
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*
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* The Solenoid class is typically used for pneumatics solenoids, but could be
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* used for any device within the current spec of the PCM.
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*/
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class Solenoid : public SolenoidBase,
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public Sendable,
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public SendableHelper<Solenoid> {
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public:
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/**
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* Constructor using the default PCM ID (0).
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*
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* @param channel The channel on the PCM to control (0..7).
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*/
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explicit Solenoid(int channel);
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/**
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* Constructor.
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*
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* @param moduleNumber The CAN ID of the PCM the solenoid is attached to
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* @param channel The channel on the PCM to control (0..7).
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*/
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Solenoid(int moduleNumber, int channel);
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~Solenoid() override;
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Solenoid(Solenoid&&) = default;
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Solenoid& operator=(Solenoid&&) = default;
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/**
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* Set the value of a solenoid.
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*
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* @param on Turn the solenoid output off or on.
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*/
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virtual void Set(bool on);
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/**
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* Read the current value of the solenoid.
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*
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* @return The current value of the solenoid.
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*/
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virtual bool Get() const;
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/**
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* Check if solenoid is blacklisted.
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*
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* If a solenoid is shorted, it is added to the blacklist and
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* disabled until power cycle, or until faults are cleared.
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*
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* @see ClearAllPCMStickyFaults()
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*
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* @return If solenoid is disabled due to short.
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*/
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bool IsBlackListed() const;
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/**
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* Set the pulse duration in the PCM. This is used in conjunction with
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* the startPulse method to allow the PCM to control the timing of a pulse.
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* The timing can be controlled in 0.01 second increments.
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*
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* @param durationSeconds The duration of the pulse, from 0.01 to 2.55
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* seconds.
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*
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* @see startPulse()
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*/
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void SetPulseDuration(double durationSeconds);
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/**
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* Trigger the PCM to generate a pulse of the duration set in
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* setPulseDuration.
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*
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* @see setPulseDuration()
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*/
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void StartPulse();
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void InitSendable(SendableBuilder& builder) override;
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private:
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hal::Handle<HAL_SolenoidHandle> m_solenoidHandle;
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int m_channel; // The channel on the module to control
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};
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} // namespace frc
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