mirror of
https://github.com/wpilibsuite/allwpilib
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99 lines
3.0 KiB
C++
99 lines
3.0 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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#include "wpi/hardware/pneumatic/Compressor.hpp"
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#include "wpi/hal/Ports.h"
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#include "wpi/hardware/pneumatic/PneumaticHub.hpp"
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#include "wpi/system/Errors.hpp"
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#include "wpi/util/sendable/SendableBuilder.hpp"
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#include "wpi/util/sendable/SendableRegistry.hpp"
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using namespace wpi;
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Compressor::Compressor(int busId, int module, PneumaticsModuleType moduleType)
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: m_module{PneumaticsBase::GetForType(busId, module, moduleType)},
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m_moduleType{moduleType} {
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if (!m_module->ReserveCompressor()) {
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throw WPILIB_MakeError(err::ResourceAlreadyAllocated, "{}", module);
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}
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m_module->EnableCompressorDigital();
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m_module->ReportUsage("Compressor", "");
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wpi::util::SendableRegistry::Add(this, "Compressor", module);
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}
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Compressor::Compressor(int busId, PneumaticsModuleType moduleType)
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: Compressor{busId, PneumaticsBase::GetDefaultForType(moduleType),
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moduleType} {}
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Compressor::~Compressor() {
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if (m_module) {
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m_module->UnreserveCompressor();
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}
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}
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bool Compressor::IsEnabled() const {
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return m_module->GetCompressor();
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}
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bool Compressor::GetPressureSwitchValue() const {
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return m_module->GetPressureSwitch();
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}
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wpi::units::ampere_t Compressor::GetCurrent() const {
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return m_module->GetCompressorCurrent();
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}
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wpi::units::volt_t Compressor::GetAnalogVoltage() const {
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return m_module->GetAnalogVoltage(0);
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}
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wpi::units::pounds_per_square_inch_t Compressor::GetPressure() const {
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return m_module->GetPressure(0);
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}
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void Compressor::Disable() {
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m_module->DisableCompressor();
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}
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void Compressor::EnableDigital() {
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m_module->EnableCompressorDigital();
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}
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void Compressor::EnableAnalog(
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wpi::units::pounds_per_square_inch_t minPressure,
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wpi::units::pounds_per_square_inch_t maxPressure) {
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m_module->EnableCompressorAnalog(minPressure, maxPressure);
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}
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void Compressor::EnableHybrid(
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wpi::units::pounds_per_square_inch_t minPressure,
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wpi::units::pounds_per_square_inch_t maxPressure) {
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m_module->EnableCompressorHybrid(minPressure, maxPressure);
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}
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CompressorConfigType Compressor::GetConfigType() const {
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return m_module->GetCompressorConfigType();
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}
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void Compressor::InitSendable(wpi::util::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Compressor");
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builder.AddBooleanProperty(
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"Enabled", [this] { return IsEnabled(); }, nullptr);
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builder.AddBooleanProperty(
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"Pressure switch", [this] { return GetPressureSwitchValue(); }, nullptr);
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builder.AddDoubleProperty(
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"Current (A)", [this] { return GetCurrent().value(); }, nullptr);
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// These are not supported by the CTRE PCM
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if (m_moduleType == PneumaticsModuleType::REVPH) {
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builder.AddDoubleProperty(
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"Analog Voltage", [this] { return GetAnalogVoltage().value(); },
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nullptr);
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builder.AddDoubleProperty(
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"Pressure (PSI)", [this] { return GetPressure().value(); }, nullptr);
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}
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}
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