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https://github.com/wpilibsuite/allwpilib
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72 lines
2.0 KiB
C++
72 lines
2.0 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 <memory>
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#include <units/time.h>
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#include "frc/CompressorConfigType.h"
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#include "frc/PneumaticsModuleType.h"
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namespace frc {
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class Solenoid;
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class DoubleSolenoid;
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class Compressor;
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class PneumaticsBase {
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public:
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virtual ~PneumaticsBase() = default;
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virtual bool GetCompressor() const = 0;
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virtual bool GetPressureSwitch() const = 0;
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virtual double GetCompressorCurrent() const = 0;
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virtual void DisableCompressor() = 0;
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virtual void EnableCompressorDigital() = 0;
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virtual void EnableCompressorAnalog(double minAnalogVoltage,
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double maxAnalogVoltage) = 0;
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virtual void EnableCompressorHybrid(double minAnalogVoltage,
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double maxAnalogVoltage) = 0;
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virtual CompressorConfigType GetCompressorConfigType() const = 0;
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virtual void SetSolenoids(int mask, int values) = 0;
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virtual int GetSolenoids() const = 0;
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virtual int GetModuleNumber() const = 0;
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virtual int GetSolenoidDisabledList() const = 0;
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virtual void FireOneShot(int index) = 0;
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virtual void SetOneShotDuration(int index, units::second_t duration) = 0;
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virtual bool CheckSolenoidChannel(int channel) const = 0;
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virtual int CheckAndReserveSolenoids(int mask) = 0;
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virtual void UnreserveSolenoids(int mask) = 0;
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virtual bool ReserveCompressor() = 0;
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virtual void UnreserveCompressor() = 0;
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virtual Solenoid MakeSolenoid(int channel) = 0;
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virtual DoubleSolenoid MakeDoubleSolenoid(int forwardChannel,
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int reverseChannel) = 0;
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virtual Compressor MakeCompressor() = 0;
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static std::shared_ptr<PneumaticsBase> GetForType(
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int module, PneumaticsModuleType moduleType);
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static int GetDefaultForType(PneumaticsModuleType moduleType);
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};
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} // namespace frc
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