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https://github.com/wpilibsuite/allwpilib
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471f375a38
This removes the name and subsystem from individual objects, and instead puts this data into a new singleton class, SendableRegistry. Much of LiveWindow has been refactored into SendableRegistry. In C++, a new CRTP helper class, SendableHelper, has been added to provide move and destruction functionality. Shims for GetName, SetName, GetSubsystem, and SetSubsystem have been added to Command and Subsystem (both old and new), and also to SendableHelper to prevent code breakage. This deprecates SendableBase in preparation for future removal.
105 lines
3.2 KiB
C++
105 lines
3.2 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2019 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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#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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* 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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