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https://github.com/wpilibsuite/allwpilib
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63 lines
1.5 KiB
C++
63 lines
1.5 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 <hal/Types.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;
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PneumaticsControlModule(PneumaticsControlModule&&) = default;
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PneumaticsControlModule& operator=(PneumaticsControlModule&&) = default;
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bool GetCompressor();
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void SetClosedLoopControl(bool enabled);
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bool GetClosedLoopControl();
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bool GetPressureSwitch();
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double GetCompressorCurrent();
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bool GetCompressorCurrentTooHighFault();
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bool GetCompressorCurrentTooHighStickyFault();
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bool GetCompressorShortedFault();
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bool GetCompressorShortedStickyFault();
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bool GetCompressorNotConnectedFault();
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bool GetCompressorNotConnectedStickyFault();
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bool GetSolenoidVoltageFault();
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bool GetSolenoidVoltageStickyFault();
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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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private:
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int m_module;
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hal::Handle<HAL_CTREPCMHandle> m_handle;
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};
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} // namespace frc
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