mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
906fe65e39
Implement GetAllSolenoids in the HAL so that SolenoidBase doesn't have to read each solenoid individually. Change-Id: I85559565949f7a7119ead410187235636a63f0ed
98 lines
2.4 KiB
C++
98 lines
2.4 KiB
C++
|
|
#include "HAL/Solenoid.hpp"
|
|
|
|
#include "HAL/Port.h"
|
|
#include "HAL/Errors.hpp"
|
|
#include "ChipObject.h"
|
|
#include "FRC_NetworkCommunication/LoadOut.h"
|
|
#include "ctre/PCM.h"
|
|
|
|
static const int NUM_MODULE_NUMBERS = 63;
|
|
|
|
PCM *modules[NUM_MODULE_NUMBERS] = { NULL };
|
|
|
|
struct solenoid_port_t {
|
|
PCM *module;
|
|
uint32_t pin;
|
|
};
|
|
|
|
void initializePCM(int module) {
|
|
if(!modules[module]) {
|
|
modules[module] = new PCM(module);
|
|
}
|
|
}
|
|
|
|
void* initializeSolenoidPort(void *port_pointer, int32_t *status) {
|
|
Port* port = (Port*) port_pointer;
|
|
initializePCM(port->module);
|
|
|
|
solenoid_port_t *solenoid_port = new solenoid_port_t;
|
|
solenoid_port->module = modules[port->module];
|
|
solenoid_port->pin = port->pin;
|
|
|
|
return solenoid_port;
|
|
}
|
|
|
|
void freeSolenoidPort(void* solenoid_port_pointer) {
|
|
solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
|
|
delete port;
|
|
}
|
|
|
|
bool checkSolenoidModule(uint8_t module) {
|
|
return module < NUM_MODULE_NUMBERS;
|
|
}
|
|
|
|
bool getSolenoid(void* solenoid_port_pointer, int32_t *status) {
|
|
solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
|
|
bool value;
|
|
|
|
*status = port->module->GetSolenoid(port->pin, value);
|
|
|
|
return value;
|
|
}
|
|
|
|
uint8_t getAllSolenoids(void* solenoid_port_pointer, int32_t *status) {
|
|
solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
|
|
uint8_t value;
|
|
|
|
*status = port->module->GetAllSolenoids(value);
|
|
|
|
return value;
|
|
}
|
|
|
|
void setSolenoid(void* solenoid_port_pointer, bool value, int32_t *status) {
|
|
solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
|
|
|
|
*status = port->module->SetSolenoid(port->pin, value);
|
|
}
|
|
|
|
int getPCMSolenoidBlackList(void* solenoid_port_pointer, int32_t *status){
|
|
solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
|
|
UINT8 value;
|
|
|
|
*status = port->module->GetSolenoidBlackList(value);
|
|
|
|
return value;
|
|
}
|
|
bool getPCMSolenoidVoltageStickyFault(void* solenoid_port_pointer, int32_t *status){
|
|
solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
|
|
bool value;
|
|
|
|
*status = port->module->GetSolenoidStickyFault(value);
|
|
|
|
return value;
|
|
}
|
|
bool getPCMSolenoidVoltageFault(void* solenoid_port_pointer, int32_t *status){
|
|
solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
|
|
bool value;
|
|
|
|
*status = port->module->GetSolenoidFault(value);
|
|
|
|
return value;
|
|
}
|
|
void clearAllPCMStickyFaults_sol(void *solenoid_port_pointer, int32_t *status){
|
|
solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
|
|
|
|
*status = port->module->ClearStickyFaults();
|
|
}
|