mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-21 01:01:43 +00:00
e71f454b9d
Rename the following folders: hal/lib/Athena -> hal/lib/athena hal/lib/Desktop -> hal/lib/sim hal/lib/Shared -> hal/lib/shared wpilibc/Athena -> wpilibc/athena wpilibc/simulation -> wpilibc/sim Windows users may need to run gradlew clean after updating.
107 lines
3.0 KiB
C++
107 lines
3.0 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2016. All Rights Reserved. */
|
|
/* Open Source Software - may be modified and shared by FRC teams. The code */
|
|
/* must be accompanied by the FIRST BSD license file in the root directory of */
|
|
/* the project. */
|
|
/*----------------------------------------------------------------------------*/
|
|
|
|
#include "HAL/Solenoid.hpp"
|
|
|
|
#include "ChipObject.h"
|
|
#include "FRC_NetworkCommunication/LoadOut.h"
|
|
#include "HAL/Errors.hpp"
|
|
#include "HAL/Port.h"
|
|
#include "ctre/PCM.h"
|
|
|
|
static const int NUM_MODULE_NUMBERS = 63;
|
|
|
|
PCM* PCM_modules[NUM_MODULE_NUMBERS] = {NULL};
|
|
|
|
struct solenoid_port_t {
|
|
PCM* module;
|
|
uint32_t pin;
|
|
};
|
|
|
|
void initializePCM(int module) {
|
|
if (!PCM_modules[module]) {
|
|
PCM_modules[module] = new PCM(module);
|
|
}
|
|
}
|
|
|
|
extern "C" {
|
|
|
|
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 = PCM_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();
|
|
}
|
|
|
|
} // extern "C"
|