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51 lines
1.8 KiB
C++
51 lines
1.8 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 "frc/PneumaticsBase.h"
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#include <memory>
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#include <hal/REVPH.h>
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#include "frc/Errors.h"
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#include "frc/PneumaticHub.h"
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#include "frc/PneumaticsControlModule.h"
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#include "frc/SensorUtil.h"
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using namespace frc;
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static_assert(
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static_cast<int>(CompressorConfigType::Disabled) ==
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HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kDisabled);
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static_assert(
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static_cast<int>(CompressorConfigType::Digital) ==
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HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kDigital);
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static_assert(
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static_cast<int>(CompressorConfigType::Analog) ==
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HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kAnalog);
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static_assert(
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static_cast<int>(CompressorConfigType::Hybrid) ==
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HAL_REVPHCompressorConfigType::HAL_REVPHCompressorConfigType_kHybrid);
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std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType(
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int module, PneumaticsModuleType moduleType) {
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if (moduleType == PneumaticsModuleType::CTREPCM) {
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return PneumaticsControlModule::GetForModule(module);
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} else if (moduleType == PneumaticsModuleType::REVPH) {
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return PneumaticHub::GetForModule(module);
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}
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throw FRC_MakeError(err::InvalidParameter, "{}",
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static_cast<int>(moduleType));
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}
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int PneumaticsBase::GetDefaultForType(PneumaticsModuleType moduleType) {
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if (moduleType == PneumaticsModuleType::CTREPCM) {
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return SensorUtil::GetDefaultCTREPCMModule();
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} else if (moduleType == PneumaticsModuleType::REVPH) {
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return SensorUtil::GetDefaultREVPHModule();
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}
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throw FRC_MakeError(err::InvalidParameter, "{}",
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static_cast<int>(moduleType));
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}
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