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99 lines
3.0 KiB
C++
99 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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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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namespace frc {
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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:
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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&& rhs);
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DoubleSolenoid& operator=(DoubleSolenoid&& rhs);
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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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* 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_SolenoidHandle m_forwardHandle = HAL_kInvalidHandle;
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HAL_SolenoidHandle m_reverseHandle = HAL_kInvalidHandle;
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};
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} // namespace frc
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