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https://github.com/wpilibsuite/allwpilib
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61 lines
1.3 KiB
C++
61 lines
1.3 KiB
C++
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#include "HAL/Solenoid.hpp"
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#include "Port.h"
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#include "HAL/Errors.hpp"
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#include "ChipObject.h"
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#include "HAL/cpp/Synchronized.hpp"
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#include "NetworkCommunication/LoadOut.h"
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#include "ctre/PCM.h"
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bool pcmModulesInitialized = false;
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static const int NUM_PCMS = 2;
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PCM *modules[NUM_PCMS];
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struct solenoid_port_t {
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PCM *module;
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uint32_t pin;
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};
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void initializePCM() {
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if(!pcmModulesInitialized) {
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modules[0] = new PCM(50);
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modules[1] = new PCM(51);
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pcmModulesInitialized = true;
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}
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}
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void* initializeSolenoidPort(void *port_pointer, int32_t *status) {
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initializePCM();
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Port* port = (Port*) port_pointer;
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solenoid_port_t *solenoid_port = new solenoid_port_t;
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solenoid_port->module = modules[port->module - 1];
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solenoid_port->pin = port->pin;
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return solenoid_port;
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}
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bool checkSolenoidModule(uint8_t module) {
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return module > 0 and module <= NUM_PCMS;
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}
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bool getSolenoid(void* solenoid_port_pointer, int32_t *status) {
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solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
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bool value;
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*status = port->module->GetSolenoid(port->pin, value);
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return value;
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}
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void setSolenoid(void* solenoid_port_pointer, bool value, int32_t *status) {
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solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
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*status = port->module->SetSolenoid(port->pin, value);
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}
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