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153 lines
4.5 KiB
C++
153 lines
4.5 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <memory>
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#include <hal/Types.h>
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#include <wpi/deprecated.h>
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#include <wpi/sendable/Sendable.h>
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#include <wpi/sendable/SendableHelper.h>
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#include "frc/CompressorConfigType.h"
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#include "frc/PneumaticsBase.h"
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#include "frc/PneumaticsModuleType.h"
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#include "frc/SensorUtil.h"
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namespace frc {
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/**
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* Class for operating a compressor connected to a pneumatics module.
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*
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* The module will automatically run in closed loop mode by default whenever a
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* Solenoid object is created. For most cases, a Compressor object does not need
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* to be instantiated or used in a robot program. This class is only required in
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* cases where the robot program needs a more detailed status of the compressor
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* or to enable/disable closed loop control.
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*
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* Note: you cannot operate the compressor directly from this class as doing so
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* would circumvent the safety provided by using the pressure switch and closed
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* loop control. You can only turn off closed loop control, thereby stopping
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* the compressor from operating.
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*/
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class Compressor : public wpi::Sendable,
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public wpi::SendableHelper<Compressor> {
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public:
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/**
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* Constructs a compressor for a specified module and type.
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*
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* @param module The module ID to use.
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* @param moduleType The module type to use.
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*/
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Compressor(int module, PneumaticsModuleType moduleType);
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/**
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* Constructs a compressor for a default module and specified type.
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*
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* @param moduleType The module type to use.
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*/
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explicit Compressor(PneumaticsModuleType moduleType);
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~Compressor() override;
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Compressor(const Compressor&) = delete;
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Compressor& operator=(const Compressor&) = delete;
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Compressor(Compressor&&) = default;
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Compressor& operator=(Compressor&&) = default;
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/**
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* Check if compressor output is active.
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* To (re)enable the compressor use EnableDigital() or EnableAnalog(...).
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*
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* @return true if the compressor is on.
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* @deprecated To avoid confusion in thinking this (re)enables the compressor
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* use IsEnabled().
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*/
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WPI_DEPRECATED(
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"To avoid confusion in thinking this (re)enables the compressor use "
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"IsEnabled()")
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bool Enabled() const;
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/**
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* Returns whether the compressor is active or not.
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*
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* @return true if the compressor is on - otherwise false.
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*/
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bool IsEnabled() const;
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/**
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* Check if the pressure switch is triggered.
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*
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* @return true if pressure is low
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*/
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bool GetPressureSwitchValue() const;
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/**
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* Query how much current the compressor is drawing.
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*
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* @return The current through the compressor, in amps
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*/
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units::ampere_t GetCurrent() const;
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/**
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* Query the analog input voltage (on channel 0) (if supported).
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*
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* @return The analog input voltage, in volts
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*/
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units::volt_t GetAnalogVoltage() const;
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/**
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* Query the analog sensor pressure (on channel 0) (if supported). Note this
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* is only for use with the REV Analog Pressure Sensor.
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*
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* @return The analog sensor pressure, in PSI
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*/
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units::pounds_per_square_inch_t GetPressure() const;
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/**
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* Disable the compressor.
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*/
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void Disable();
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/**
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* Enable compressor closed loop control using digital input.
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*/
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void EnableDigital();
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/**
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* Enable compressor closed loop control using analog input. Note this is only
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* for use with the REV Analog Pressure Sensor.
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*
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* <p>On CTRE PCM, this will enable digital control.
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*
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* @param minPressure The minimum pressure in PSI to enable compressor
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* @param maxPressure The maximum pressure in PSI to disable compressor
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*/
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void EnableAnalog(units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure);
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/**
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* Enable compressor closed loop control using hybrid input. Note this is only
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* for use with the REV Analog Pressure Sensor.
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*
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* On CTRE PCM, this will enable digital control.
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*
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* @param minPressure The minimum pressure in PSI to enable compressor
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* @param maxPressure The maximum pressure in PSI to disable compressor
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*/
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void EnableHybrid(units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure);
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CompressorConfigType GetConfigType() const;
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void InitSendable(wpi::SendableBuilder& builder) override;
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private:
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std::shared_ptr<PneumaticsBase> m_module;
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};
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} // namespace frc
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