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125 lines
3.4 KiB
C++
125 lines
3.4 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 "frc/SolenoidBase.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SendableBuilder;
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/**
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* DoubleSolenoid class for running 2 channels of high voltage Digital Output
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* (PCM).
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*
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* The DoubleSolenoid class is typically used for pneumatics solenoids that
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* have two positions controlled by two separate channels.
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*/
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class DoubleSolenoid : public SolenoidBase,
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public Sendable,
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public SendableHelper<DoubleSolenoid> {
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public:
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enum Value { kOff, kForward, kReverse };
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/**
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* Constructor.
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*
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* Uses the default PCM ID of 0.
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*
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* @param forwardChannel The forward channel number on the PCM (0..7).
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* @param reverseChannel The reverse channel number on the PCM (0..7).
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*/
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explicit DoubleSolenoid(int forwardChannel, int reverseChannel);
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/**
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* Constructor.
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*
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* @param moduleNumber The CAN ID of the PCM.
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* @param forwardChannel The forward channel on the PCM to control (0..7).
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* @param reverseChannel The reverse channel on the PCM to control (0..7).
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*/
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DoubleSolenoid(int moduleNumber, int forwardChannel, int reverseChannel);
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~DoubleSolenoid() override;
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DoubleSolenoid(DoubleSolenoid&&) = default;
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DoubleSolenoid& operator=(DoubleSolenoid&&) = default;
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/**
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* Set the value of a solenoid.
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*
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* @param value The value to set (Off, Forward or Reverse)
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*/
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virtual void Set(Value value);
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/**
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* Read the current value of the solenoid.
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*
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* @return The current value of the solenoid.
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*/
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virtual Value Get() const;
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/**
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* Toggle the value of the solenoid.
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*
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* If the solenoid is set to forward, it'll be set to reverse. If the solenoid
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* is set to reverse, it'll be set to forward. If the solenoid is set to off,
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* nothing happens.
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*/
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void Toggle();
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/**
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* Get the forward channel.
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*
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* @return the forward channel.
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*/
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int GetFwdChannel() const;
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/**
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* Get the reverse channel.
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*
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* @return the reverse channel.
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*/
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int GetRevChannel() const;
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/**
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* Check if the forward solenoid is blacklisted.
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*
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* If a solenoid is shorted, it is added to the blacklist and disabled until
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* power cycle, or until faults are cleared.
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*
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* @see ClearAllPCMStickyFaults()
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* @return If solenoid is disabled due to short.
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*/
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bool IsFwdSolenoidBlackListed() const;
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/**
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* Check if the reverse solenoid is blacklisted.
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*
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* If a solenoid is shorted, it is added to the blacklist and disabled until
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* power cycle, or until faults are cleared.
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*
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* @see ClearAllPCMStickyFaults()
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* @return If solenoid is disabled due to short.
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*/
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bool IsRevSolenoidBlackListed() const;
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void InitSendable(SendableBuilder& builder) override;
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private:
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int m_forwardChannel; // The forward channel on the module to control.
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int m_reverseChannel; // The reverse channel on the module to control.
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int m_forwardMask; // The mask for the forward channel.
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int m_reverseMask; // The mask for the reverse channel.
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hal::Handle<HAL_SolenoidHandle> m_forwardHandle;
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hal::Handle<HAL_SolenoidHandle> m_reverseHandle;
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};
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} // namespace frc
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