mirror of
https://github.com/wpilibsuite/allwpilib
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e09293a15e
A lot of these are breaking changes. frc::Timer was replaced with the contents of frc2::Timer. The others were in-place argument changes or removing deprecated non-unit overloads.
115 lines
2.8 KiB
C++
115 lines
2.8 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 <hal/Types.h>
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#include <units/time.h>
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#include "frc/SolenoidBase.h"
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#include "frc/smartdashboard/Sendable.h"
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#include "frc/smartdashboard/SendableHelper.h"
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namespace frc {
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class SendableBuilder;
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/**
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* Solenoid class for running high voltage Digital Output (PCM).
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*
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* The Solenoid class is typically used for pneumatics solenoids, but could be
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* used for any device within the current spec of the PCM.
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*/
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class Solenoid : public SolenoidBase,
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public Sendable,
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public SendableHelper<Solenoid> {
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public:
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/**
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* Constructor using the default PCM ID (0).
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*
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* @param channel The channel on the PCM to control (0..7).
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*/
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explicit Solenoid(int channel);
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/**
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* Constructor.
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*
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* @param moduleNumber The CAN ID of the PCM the solenoid is attached to
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* @param channel The channel on the PCM to control (0..7).
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*/
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Solenoid(int moduleNumber, int channel);
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~Solenoid() override;
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Solenoid(Solenoid&&) = default;
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Solenoid& operator=(Solenoid&&) = default;
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/**
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* Set the value of a solenoid.
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*
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* @param on Turn the solenoid output off or on.
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*/
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virtual void Set(bool on);
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/**
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* Read the current value of the solenoid.
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*
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* @return The current value of the solenoid.
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*/
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virtual bool Get() const;
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/**
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* Toggle the value of the solenoid.
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*
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* If the solenoid is set to on, it'll be turned off. If the solenoid is set
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* to off, it'll be turned on.
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*/
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void Toggle();
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/**
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* Get the channel this solenoid is connected to.
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*/
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int GetChannel() const;
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/**
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* Check if solenoid is blacklisted.
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*
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* If a solenoid is shorted, it is added to the blacklist and
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* disabled until power cycle, or until faults are cleared.
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*
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* @see ClearAllPCMStickyFaults()
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*
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* @return If solenoid is disabled due to short.
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*/
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bool IsBlackListed() const;
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/**
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* Set the pulse duration in the PCM. This is used in conjunction with
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* the startPulse method to allow the PCM to control the timing of a pulse.
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* The timing can be controlled in 0.01 second increments.
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*
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* @param durationSeconds The duration of the pulse, from 0.01 to 2.55
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* seconds.
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*
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* @see startPulse()
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*/
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void SetPulseDuration(units::second_t duration);
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/**
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* Trigger the PCM to generate a pulse of the duration set in
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* setPulseDuration.
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*
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* @see setPulseDuration()
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*/
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void StartPulse();
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void InitSendable(SendableBuilder& builder) override;
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private:
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hal::Handle<HAL_SolenoidHandle> m_solenoidHandle;
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int m_channel; // The channel on the module to control
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};
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} // namespace frc
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