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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
100 lines
2.4 KiB
C++
100 lines
2.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "Solenoid.h"
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#include "WPIErrors.h"
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#include "LiveWindow/LiveWindow.h"
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#include "simulation/simTime.h"
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/**
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* Constructor.
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*
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* @param channel The channel on the solenoid module to control (1..8).
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*/
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Solenoid::Solenoid(uint32_t channel) : Solenoid(1, channel) {}
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/**
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* Constructor.
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*
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* @param moduleNumber The solenoid module (1 or 2).
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* @param channel The channel on the solenoid module to control (1..8).
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*/
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Solenoid::Solenoid(uint8_t moduleNumber, uint32_t channel)
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{
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char buffer[50];
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int n = sprintf(buffer, "pneumatic/%d/%d", moduleNumber, channel);
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m_impl = new SimContinuousOutput(buffer);
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LiveWindow::GetInstance()->AddActuator("Solenoid", moduleNumber, channel,
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this);
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}
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Solenoid::~Solenoid() {
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if (m_table != nullptr) m_table->RemoveTableListener(this);
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}
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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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void Solenoid::Set(bool on)
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{
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m_on = on;
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m_impl->Set(on ? 1 : -1);
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}
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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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bool Solenoid::Get() const
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{
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return m_on;
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}
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void Solenoid::ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) {
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if (!value->IsBoolean()) return;
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Set(value->GetBoolean());
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}
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void Solenoid::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutBoolean("Value", Get());
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}
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}
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void Solenoid::StartLiveWindowMode() {
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Set(false);
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if (m_table != nullptr) {
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m_table->AddTableListener("Value", this, true);
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}
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}
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void Solenoid::StopLiveWindowMode() {
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Set(false);
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if (m_table != nullptr) {
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m_table->RemoveTableListener(this);
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}
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}
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std::string Solenoid::GetSmartDashboardType() const {
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return "Solenoid";
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}
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void Solenoid::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> Solenoid::GetTable() const {
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return m_table;
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}
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