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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.
128 lines
4.1 KiB
C++
128 lines
4.1 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 "frc/ErrorBase.h"
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namespace frc {
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/**
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* SolenoidBase class is the common base class for the Solenoid and
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* DoubleSolenoid classes.
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*/
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class SolenoidBase : public ErrorBase {
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public:
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/**
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* Read all 8 solenoids as a single byte
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*
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* @param module the module to read from
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* @return The current value of all 8 solenoids on the module.
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*/
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static int GetAll(int module);
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/**
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* Read all 8 solenoids as a single byte
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*
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* @return The current value of all 8 solenoids on the module.
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*/
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int GetAll() const;
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/**
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* Reads complete solenoid blacklist for all 8 solenoids as a single byte.
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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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* @see ClearAllPCMStickyFaults()
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*
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* @param module the module to read from
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* @return The solenoid blacklist of all 8 solenoids on the module.
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*/
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static int GetPCMSolenoidBlackList(int module);
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/**
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* Reads complete solenoid blacklist for all 8 solenoids as a single byte.
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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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* @see ClearAllPCMStickyFaults()
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*
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* @return The solenoid blacklist of all 8 solenoids on the module.
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*/
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int GetPCMSolenoidBlackList() const;
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/**
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* @param module the module to read from
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* @return true if PCM sticky fault is set : The common highside solenoid
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* voltage rail is too low, most likely a solenoid channel is shorted.
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*/
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static bool GetPCMSolenoidVoltageStickyFault(int module);
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/**
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* @return true if PCM sticky fault is set : The common highside solenoid
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* voltage rail is too low, most likely a solenoid channel is shorted.
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*/
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bool GetPCMSolenoidVoltageStickyFault() const;
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/**
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* @param module the module to read from
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* @return true if PCM is in fault state : The common highside solenoid
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* voltage rail is too low, most likely a solenoid channel is shorted.
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*/
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static bool GetPCMSolenoidVoltageFault(int module);
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/**
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* @return true if PCM is in fault state : The common highside solenoid
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* voltage rail is too low, most likely a solenoid channel is shorted.
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*/
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bool GetPCMSolenoidVoltageFault() const;
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/**
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* Clear ALL sticky faults inside PCM that Compressor is wired to.
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*
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* If a sticky fault is set, then it will be persistently cleared. Compressor
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* drive maybe momentarily disable while flags are being cleared. Care should
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* be taken to not call this too frequently, otherwise normal compressor
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* functionality may be prevented.
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*
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* If no sticky faults are set then this call will have no effect.
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*
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* @param module the module to read from
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*/
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static void ClearAllPCMStickyFaults(int module);
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/**
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* Clear ALL sticky faults inside PCM that Compressor is wired to.
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*
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* If a sticky fault is set, then it will be persistently cleared. Compressor
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* drive maybe momentarily disable while flags are being cleared. Care should
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* be taken to not call this too frequently, otherwise normal compressor
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* functionality may be prevented.
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*
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* If no sticky faults are set then this call will have no effect.
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*/
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void ClearAllPCMStickyFaults();
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protected:
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/**
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* Constructor.
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*
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* @param moduleNumber The CAN PCM ID.
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*/
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explicit SolenoidBase(int pcmID);
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SolenoidBase(SolenoidBase&&) = default;
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SolenoidBase& operator=(SolenoidBase&&) = default;
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static constexpr int m_maxModules = 63;
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static constexpr int m_maxPorts = 8;
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int m_moduleNumber; // PCM module number
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};
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} // namespace frc
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