mirror of
https://github.com/wpilibsuite/allwpilib
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69422dc063
This makes our APIs more consistent. With optimizations enabled, doubles are just as efficient as floats on ARMv7, so we should take advantage of the extra precision.
70 lines
2.0 KiB
C++
70 lines
2.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014-2016. 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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#pragma once
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#include <memory>
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#include <string>
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#include "HAL/Types.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "SensorBase.h"
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#include "tables/ITableListener.h"
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namespace frc {
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/**
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* PCM compressor
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*/
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class Compressor : public SensorBase,
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public LiveWindowSendable,
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public ITableListener {
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public:
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// Default PCM ID is 0
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explicit Compressor(int pcmID = GetDefaultSolenoidModule());
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virtual ~Compressor() = default;
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void Start();
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void Stop();
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bool Enabled() const;
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bool GetPressureSwitchValue() const;
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double GetCompressorCurrent() const;
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void SetClosedLoopControl(bool on);
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bool GetClosedLoopControl() const;
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bool GetCompressorCurrentTooHighFault() const;
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bool GetCompressorCurrentTooHighStickyFault() const;
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bool GetCompressorShortedStickyFault() const;
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bool GetCompressorShortedFault() const;
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bool GetCompressorNotConnectedStickyFault() const;
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bool GetCompressorNotConnectedFault() const;
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void ClearAllPCMStickyFaults();
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void UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) override;
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protected:
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HAL_CompressorHandle m_compressorHandle;
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private:
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void SetCompressor(bool on);
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int m_module;
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std::shared_ptr<ITable> m_table;
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};
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} // namespace frc
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