mirror of
https://github.com/wpilibsuite/allwpilib
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34b2d0dae1
More functionality was implemented at the HAL level, so expose that to the wpilib level. This also does units changes for all the PH related functionality.
88 lines
2.4 KiB
C++
88 lines
2.4 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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#include "frc/Compressor.h"
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#include <hal/FRCUsageReporting.h>
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#include <hal/Ports.h>
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#include <wpi/sendable/SendableBuilder.h>
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#include <wpi/sendable/SendableRegistry.h>
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#include "frc/Errors.h"
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using namespace frc;
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Compressor::Compressor(int module, PneumaticsModuleType moduleType)
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: m_module{PneumaticsBase::GetForType(module, moduleType)} {
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if (!m_module->ReserveCompressor()) {
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throw FRC_MakeError(err::ResourceAlreadyAllocated, "{}", module);
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}
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m_module->EnableCompressorDigital();
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HAL_Report(HALUsageReporting::kResourceType_Compressor, module + 1);
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wpi::SendableRegistry::AddLW(this, "Compressor", module);
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}
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Compressor::Compressor(PneumaticsModuleType moduleType)
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: Compressor{PneumaticsBase::GetDefaultForType(moduleType), moduleType} {}
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Compressor::~Compressor() {
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m_module->UnreserveCompressor();
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}
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void Compressor::Start() {
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EnableDigital();
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}
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void Compressor::Stop() {
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Disable();
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}
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bool Compressor::Enabled() const {
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return m_module->GetCompressor();
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}
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bool Compressor::GetPressureSwitchValue() const {
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return m_module->GetPressureSwitch();
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}
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units::ampere_t Compressor::GetCurrent() const {
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return m_module->GetCompressorCurrent();
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}
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units::volt_t Compressor::GetAnalogVoltage() const {
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return m_module->GetAnalogVoltage(0);
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}
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void Compressor::Disable() {
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m_module->DisableCompressor();
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}
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void Compressor::EnableDigital() {
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m_module->EnableCompressorDigital();
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}
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void Compressor::EnableAnalog(units::volt_t minAnalogVoltage,
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units::volt_t maxAnalogVoltage) {
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m_module->EnableCompressorAnalog(minAnalogVoltage, maxAnalogVoltage);
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}
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void Compressor::EnableHybrid(units::volt_t minAnalogVoltage,
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units::volt_t maxAnalogVoltage) {
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m_module->EnableCompressorHybrid(minAnalogVoltage, maxAnalogVoltage);
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}
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CompressorConfigType Compressor::GetConfigType() const {
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return m_module->GetCompressorConfigType();
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}
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void Compressor::InitSendable(wpi::SendableBuilder& builder) {
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builder.SetSmartDashboardType("Compressor");
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builder.AddBooleanProperty(
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"Enabled", [=] { return Enabled(); }, nullptr);
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builder.AddBooleanProperty(
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"Pressure switch", [=]() { return GetPressureSwitchValue(); }, nullptr);
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}
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