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https://github.com/wpilibsuite/allwpilib
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8d961dfd25
Replace with new exception-based error reporting, consistent with Java. This also builds stacktraces into the reporting/exceptions.
132 lines
3.9 KiB
C++
132 lines
3.9 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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namespace frc {
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/**
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* SolenoidBase class is the common base class for the Solenoid and
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* DoubleSolenoid classes.
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*/
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class SolenoidBase {
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public:
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virtual ~SolenoidBase() = default;
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/**
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* Get the CAN ID of the module this solenoid is connected to.
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*
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* @return the module number.
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*/
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int GetModuleNumber() const;
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/**
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* Read all 8 solenoids as a single byte
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*
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* @param module the module to read from
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* @return The current value of all 8 solenoids on the module.
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*/
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static int GetAll(int module);
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/**
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* Read all 8 solenoids as a single byte
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*
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* @return The current value of all 8 solenoids on the module.
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*/
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int GetAll() const;
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/**
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* Reads complete solenoid blacklist for all 8 solenoids as a single byte.
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*
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* If a solenoid is shorted, it is added to the blacklist and
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* disabled until power cycle, or until faults are cleared.
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* @see ClearAllPCMStickyFaults()
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*
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* @param module the module to read from
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* @return The solenoid blacklist of all 8 solenoids on the module.
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*/
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static int GetPCMSolenoidBlackList(int module);
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/**
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* Reads complete solenoid blacklist for all 8 solenoids as a single byte.
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*
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* If a solenoid is shorted, it is added to the blacklist and
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* disabled until power cycle, or until faults are cleared.
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* @see ClearAllPCMStickyFaults()
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*
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* @return The solenoid blacklist of all 8 solenoids on the module.
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*/
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int GetPCMSolenoidBlackList() const;
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/**
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* @param module the module to read from
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* @return true if PCM sticky fault is set : The common highside solenoid
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* voltage rail is too low, most likely a solenoid channel is shorted.
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*/
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static bool GetPCMSolenoidVoltageStickyFault(int module);
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/**
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* @return true if PCM sticky fault is set : The common highside solenoid
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* voltage rail is too low, most likely a solenoid channel is shorted.
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*/
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bool GetPCMSolenoidVoltageStickyFault() const;
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/**
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* @param module the module to read from
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* @return true if PCM is in fault state : The common highside solenoid
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* voltage rail is too low, most likely a solenoid channel is shorted.
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*/
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static bool GetPCMSolenoidVoltageFault(int module);
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/**
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* @return true if PCM is in fault state : The common highside solenoid
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* voltage rail is too low, most likely a solenoid channel is shorted.
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*/
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bool GetPCMSolenoidVoltageFault() const;
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/**
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* Clear ALL sticky faults inside PCM that Compressor is wired to.
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*
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* If a sticky fault is set, then it will be persistently cleared. Compressor
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* drive maybe momentarily disable while flags are being cleared. Care should
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* be taken to not call this too frequently, otherwise normal compressor
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* functionality may be prevented.
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*
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* If no sticky faults are set then this call will have no effect.
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*
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* @param module the module to read from
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*/
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static void ClearAllPCMStickyFaults(int module);
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/**
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* Clear ALL sticky faults inside PCM that Compressor is wired to.
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*
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* If a sticky fault is set, then it will be persistently cleared. Compressor
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* drive maybe momentarily disable while flags are being cleared. Care should
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* be taken to not call this too frequently, otherwise normal compressor
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* functionality may be prevented.
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*
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* If no sticky faults are set then this call will have no effect.
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*/
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void ClearAllPCMStickyFaults();
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protected:
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/**
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* Constructor.
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*
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* @param moduleNumber The CAN PCM ID.
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*/
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explicit SolenoidBase(int pcmID);
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SolenoidBase(SolenoidBase&&) = default;
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SolenoidBase& operator=(SolenoidBase&&) = default;
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static constexpr int m_maxModules = 63;
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static constexpr int m_maxPorts = 8;
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int m_moduleNumber; // PCM module number
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};
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} // namespace frc
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