mirror of
https://github.com/wpilibsuite/allwpilib
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136 lines
3.4 KiB
C++
136 lines
3.4 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#include "DoubleSolenoid.h"
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#include "WPIErrors.h"
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#include <string.h>
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#include "LiveWindow/LiveWindow.h"
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/**
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* Common function to implement constructor behavior.
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*/
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void DoubleSolenoid::InitSolenoid(int slot, int forwardChannel, int reverseChannel)
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{
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m_reversed = false;
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if (reverseChannel < forwardChannel) { // Swap ports to get the right address
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int channel = reverseChannel;
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reverseChannel = forwardChannel;
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forwardChannel = channel;
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m_reversed = true;
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}
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char buffer[50];
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int n = sprintf(buffer, "pneumatic/%d/%d/%d/%d", slot, forwardChannel,
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slot, reverseChannel);
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m_impl = new SimContinuousOutput(buffer);
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LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", slot, forwardChannel, this);
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}
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/**
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* Constructor.
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*
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* @param forwardChannel The forward channel on the module to control.
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* @param reverseChannel The reverse channel on the module to control.
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*/
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DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
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{
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InitSolenoid(1, forwardChannel, reverseChannel);
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}
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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 forwardChannel The forward channel on the module to control.
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* @param reverseChannel The reverse channel on the module to control.
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*/
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DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, uint32_t reverseChannel)
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{
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InitSolenoid(moduleNumber, forwardChannel, reverseChannel);
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}
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/**
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* Destructor.
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*/
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DoubleSolenoid::~DoubleSolenoid()
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{
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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 value Move the solenoid to forward, reverse, or don't move it.
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*/
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void DoubleSolenoid::Set(Value value)
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{
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m_value = value;
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switch(value)
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{
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case kOff:
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m_impl->Set(0);
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break;
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case kForward:
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m_impl->Set(m_reversed ? -1 : 1);
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break;
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case kReverse:
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m_impl->Set(m_reversed ? 1 : -1);
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break;
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}
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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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DoubleSolenoid::Value DoubleSolenoid::Get()
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{
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return m_value;
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}
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void DoubleSolenoid::ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew) {
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Value lvalue = kOff;
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std::string *val = (std::string *)value.ptr;
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if (*val == "Forward")
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lvalue = kForward;
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else if (*val == "Reverse")
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lvalue = kReverse;
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Set(lvalue);
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}
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void DoubleSolenoid::UpdateTable() {
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if (m_table != NULL) {
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m_table->PutString("Value", (Get() == kForward ? "Forward" : (Get() == kReverse ? "Reverse" : "Off")));
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}
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}
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void DoubleSolenoid::StartLiveWindowMode() {
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Set(kOff);
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if (m_table != NULL) {
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m_table->AddTableListener("Value", this, true);
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}
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}
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void DoubleSolenoid::StopLiveWindowMode() {
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Set(kOff);
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if (m_table != NULL) {
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m_table->RemoveTableListener(this);
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}
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}
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std::string DoubleSolenoid::GetSmartDashboardType() {
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return "Double Solenoid";
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}
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void DoubleSolenoid::InitTable(ITable *subTable) {
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m_table = subTable;
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UpdateTable();
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}
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ITable * DoubleSolenoid::GetTable() {
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return m_table;
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}
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