mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
40 lines
1.3 KiB
C++
40 lines
1.3 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. All Rights Reserved.
|
|
*/
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "Resource.h"
|
|
#include "SensorBase.h"
|
|
#include "HAL/HAL.hpp"
|
|
#include "HAL/cpp/Synchronized.hpp"
|
|
#include "Port.h"
|
|
|
|
/**
|
|
* SolenoidBase class is the common base class for the Solenoid and
|
|
* DoubleSolenoid classes.
|
|
*/
|
|
class SolenoidBase : public SensorBase {
|
|
public:
|
|
virtual ~SolenoidBase() = default;
|
|
uint8_t GetAll(int module = 0) const;
|
|
|
|
uint8_t GetPCMSolenoidBlackList(int module) const;
|
|
bool GetPCMSolenoidVoltageStickyFault(int module) const;
|
|
bool GetPCMSolenoidVoltageFault(int module) const;
|
|
void ClearAllPCMStickyFaults(int module);
|
|
|
|
protected:
|
|
explicit SolenoidBase(uint8_t pcmID);
|
|
void Set(uint8_t value, uint8_t mask, int module);
|
|
virtual void InitSolenoid() = 0;
|
|
const static int m_maxModules = 63;
|
|
const static int m_maxPorts = 8;
|
|
static void* m_ports[m_maxModules][m_maxPorts];
|
|
uint32_t m_moduleNumber; ///< Slot number where the module is plugged into
|
|
///the chassis.
|
|
static Resource* m_allocated;
|
|
};
|