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255a3a5b12
Removed #if 0...#endif from PCM.cpp Change-Id: I2d117c87a3fa10bddebf83706f79c2e767d22a0d Update the HAL to the PCM/PDP changes Change-Id: If554b650e263f174e90864f1e9ffba91daf20f7e Update C++ to the PCM/PDP changes Change-Id: Ia3114d4526be1dc5cc2f74fd8f7ab44f204d15f2 Updated PCM/PDP in Java Change-Id: I8fe03afbcb1739d555e86abc0eaae1e12313d490
55 lines
1.2 KiB
C++
55 lines
1.2 KiB
C++
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#include "HAL/Solenoid.hpp"
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#include "Port.h"
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#include "HAL/Errors.hpp"
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#include "ChipObject.h"
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#include "HAL/cpp/Synchronized.hpp"
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#include "NetworkCommunication/LoadOut.h"
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#include "ctre/PCM.h"
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static const int NUM_MODULE_NUMBERS = 63;
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PCM *modules[NUM_MODULE_NUMBERS] = { NULL };
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struct solenoid_port_t {
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PCM *module;
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uint32_t pin;
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};
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void initializePCM(int module) {
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if(!modules[module]) {
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modules[module] = new PCM(module);
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}
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}
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void* initializeSolenoidPort(void *port_pointer, int32_t *status) {
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Port* port = (Port*) port_pointer;
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initializePCM(port->module);
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solenoid_port_t *solenoid_port = new solenoid_port_t;
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solenoid_port->module = modules[port->module];
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solenoid_port->pin = port->pin;
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return solenoid_port;
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}
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bool checkSolenoidModule(uint8_t module) {
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return module < NUM_MODULE_NUMBERS;
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}
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bool getSolenoid(void* solenoid_port_pointer, int32_t *status) {
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solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
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bool value;
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*status = port->module->GetSolenoid(port->pin, value);
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return value;
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}
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void setSolenoid(void* solenoid_port_pointer, bool value, int32_t *status) {
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solenoid_port_t* port = (solenoid_port_t*) solenoid_port_pointer;
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port->module->SetSolenoid(port->pin, value);
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}
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