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https://github.com/wpilibsuite/allwpilib
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7c09f44898
This adds the REV Analog Pressure Sensor PSI to volt (and vice versa) conversion to allow setting the compressor config in PSI and getting the sensor reading in PSI. Also adds input validation for pressure values at the higher level. Co-authored-by: Tyler Veness <calcmogul@gmail.com>
104 lines
2.9 KiB
C++
104 lines
2.9 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/DenseMap.h>
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#include <wpi/mutex.h>
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#include "PneumaticsBase.h"
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namespace frc {
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class PneumaticsControlModule : public PneumaticsBase {
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public:
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PneumaticsControlModule();
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explicit PneumaticsControlModule(int module);
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~PneumaticsControlModule() override = default;
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bool GetCompressor() const override;
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void DisableCompressor() override;
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void EnableCompressorDigital() override;
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void EnableCompressorAnalog(
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units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure) override;
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void EnableCompressorHybrid(
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units::pounds_per_square_inch_t minPressure,
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units::pounds_per_square_inch_t maxPressure) override;
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CompressorConfigType GetCompressorConfigType() const override;
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bool GetPressureSwitch() const override;
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units::ampere_t GetCompressorCurrent() const override;
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bool GetCompressorCurrentTooHighFault() const;
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bool GetCompressorCurrentTooHighStickyFault() const;
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bool GetCompressorShortedFault() const;
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bool GetCompressorShortedStickyFault() const;
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bool GetCompressorNotConnectedFault() const;
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bool GetCompressorNotConnectedStickyFault() const;
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bool GetSolenoidVoltageFault() const;
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bool GetSolenoidVoltageStickyFault() const;
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void ClearAllStickyFaults();
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void SetSolenoids(int mask, int values) override;
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int GetSolenoids() const override;
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int GetModuleNumber() const override;
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int GetSolenoidDisabledList() const override;
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void FireOneShot(int index) override;
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void SetOneShotDuration(int index, units::second_t duration) override;
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bool CheckSolenoidChannel(int channel) const override;
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int CheckAndReserveSolenoids(int mask) override;
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void UnreserveSolenoids(int mask) override;
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bool ReserveCompressor() override;
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void UnreserveCompressor() override;
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units::volt_t GetAnalogVoltage(int channel) const override;
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units::pounds_per_square_inch_t GetPressure(int channel) const override;
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Solenoid MakeSolenoid(int channel) override;
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DoubleSolenoid MakeDoubleSolenoid(int forwardChannel,
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int reverseChannel) override;
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Compressor MakeCompressor() override;
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private:
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class DataStore;
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friend class DataStore;
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friend class PneumaticsBase;
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PneumaticsControlModule(HAL_CTREPCMHandle handle, int module);
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static std::shared_ptr<PneumaticsBase> GetForModule(int module);
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std::shared_ptr<DataStore> m_dataStore;
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HAL_CTREPCMHandle m_handle;
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int m_module;
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static wpi::mutex m_handleLock;
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static std::unique_ptr<wpi::DenseMap<int, std::weak_ptr<DataStore>>>
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m_handleMap;
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static std::weak_ptr<DataStore>& GetDataStore(int module);
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};
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} // namespace frc
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