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https://github.com/wpilibsuite/allwpilib
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55 lines
1.8 KiB
C++
55 lines
1.8 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "SolenoidBase.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include "tables/ITableListener.h"
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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, public LiveWindowSendable, public ITableListener
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{
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public:
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enum Value
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{
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kOff,
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kForward,
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kReverse
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};
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explicit DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel);
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DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, uint32_t reverseChannel);
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virtual ~DoubleSolenoid();
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virtual void Set(Value value);
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virtual Value Get();
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bool IsFwdSolenoidBlackListed();
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bool IsRevSolenoidBlackListed();
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void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType();
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void InitTable(ITable *subTable);
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ITable * GetTable();
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private:
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virtual void InitSolenoid();
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uint32_t m_forwardChannel; ///< The forward channel on the module to control.
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uint32_t m_reverseChannel; ///< The reverse channel on the module to control.
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uint8_t m_forwardMask; ///< The mask for the forward channel.
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uint8_t m_reverseMask; ///< The mask for the reverse channel.
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ITable *m_table;
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};
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