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https://github.com/wpilibsuite/allwpilib
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9dc30797e4
According to NI, 0 is unspecified, and all the indices need to be index + 1, so the first index becomes 1.
99 lines
3.3 KiB
C++
99 lines
3.3 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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#include "frc/Solenoid.h"
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#include <utility>
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#include <hal/HAL.h>
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#include <hal/Ports.h>
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#include <hal/Solenoid.h>
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#include "frc/SensorUtil.h"
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#include "frc/WPIErrors.h"
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#include "frc/smartdashboard/SendableBuilder.h"
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#include "frc/smartdashboard/SendableRegistry.h"
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using namespace frc;
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Solenoid::Solenoid(int channel)
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: Solenoid(SensorUtil::GetDefaultSolenoidModule(), channel) {}
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Solenoid::Solenoid(int moduleNumber, int channel)
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: SolenoidBase(moduleNumber), m_channel(channel) {
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if (!SensorUtil::CheckSolenoidModule(m_moduleNumber)) {
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wpi_setWPIErrorWithContext(ModuleIndexOutOfRange,
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"Solenoid Module " + wpi::Twine(m_moduleNumber));
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return;
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}
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if (!SensorUtil::CheckSolenoidChannel(m_channel)) {
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wpi_setWPIErrorWithContext(ChannelIndexOutOfRange,
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"Solenoid Channel " + wpi::Twine(m_channel));
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return;
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}
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int32_t status = 0;
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m_solenoidHandle = HAL_InitializeSolenoidPort(
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HAL_GetPortWithModule(moduleNumber, channel), &status);
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if (status != 0) {
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wpi_setErrorWithContextRange(status, 0, HAL_GetNumSolenoidChannels(),
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channel, HAL_GetErrorMessage(status));
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m_solenoidHandle = HAL_kInvalidHandle;
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return;
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}
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HAL_Report(HALUsageReporting::kResourceType_Solenoid, m_channel + 1,
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m_moduleNumber + 1);
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SendableRegistry::GetInstance().AddLW(this, "Solenoid", m_moduleNumber,
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m_channel);
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}
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Solenoid::~Solenoid() { HAL_FreeSolenoidPort(m_solenoidHandle); }
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void Solenoid::Set(bool on) {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetSolenoid(m_solenoidHandle, on, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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bool Solenoid::Get() const {
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if (StatusIsFatal()) return false;
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int32_t status = 0;
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bool value = HAL_GetSolenoid(m_solenoidHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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return value;
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}
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bool Solenoid::IsBlackListed() const {
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int value = GetPCMSolenoidBlackList(m_moduleNumber) & (1 << m_channel);
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return (value != 0);
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}
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void Solenoid::SetPulseDuration(double durationSeconds) {
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int32_t durationMS = durationSeconds * 1000;
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_SetOneShotDuration(m_solenoidHandle, durationMS, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void Solenoid::StartPulse() {
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if (StatusIsFatal()) return;
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int32_t status = 0;
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HAL_FireOneShot(m_solenoidHandle, &status);
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wpi_setErrorWithContext(status, HAL_GetErrorMessage(status));
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}
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void Solenoid::InitSendable(SendableBuilder& builder) {
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builder.SetSmartDashboardType("Solenoid");
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builder.SetActuator(true);
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builder.SetSafeState([=]() { Set(false); });
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builder.AddBooleanProperty("Value", [=]() { return Get(); },
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[=](bool value) { Set(value); });
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}
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