mirror of
https://github.com/wpilibsuite/allwpilib
synced 2026-06-20 00:51:42 +00:00
bb50f4b134
Made a toplevel directory for C++ and C++ tests Change-Id: I4bc2074a7036ec7fe79568b411637a5bee9eb5b3 Added the C++ testing framework and one test Change-Id: I1e80a1e16b251a49666820a9d4c8caa025da9785
53 lines
1.7 KiB
C++
53 lines
1.7 KiB
C++
/*----------------------------------------------------------------------------*/
|
|
/* Copyright (c) FIRST 2008. 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 $(WIND_BASE)/WPILib. */
|
|
/*----------------------------------------------------------------------------*/
|
|
#pragma once
|
|
|
|
#include "SolenoidBase.h"
|
|
#include "LiveWindow/LiveWindowSendable.h"
|
|
#include "tables/ITableListener.h"
|
|
|
|
/**
|
|
* DoubleSolenoid class for running 2 channels of high voltage Digital Output
|
|
* (9472 module).
|
|
*
|
|
* The DoubleSolenoid class is typically used for pneumatics solenoids that
|
|
* have two positions controlled by two separate channels.
|
|
*/
|
|
class DoubleSolenoid : public SolenoidBase, public LiveWindowSendable, public ITableListener
|
|
{
|
|
public:
|
|
enum Value
|
|
{
|
|
kOff,
|
|
kForward,
|
|
kReverse
|
|
};
|
|
|
|
explicit DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel);
|
|
DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel, uint32_t reverseChannel);
|
|
virtual ~DoubleSolenoid();
|
|
virtual void Set(Value value);
|
|
virtual Value Get();
|
|
|
|
void ValueChanged(ITable* source, const std::string& key, EntryValue value, bool isNew);
|
|
void UpdateTable();
|
|
void StartLiveWindowMode();
|
|
void StopLiveWindowMode();
|
|
std::string GetSmartDashboardType();
|
|
void InitTable(ITable *subTable);
|
|
ITable * GetTable();
|
|
|
|
private:
|
|
virtual void InitSolenoid();
|
|
|
|
uint32_t m_forwardChannel; ///< The forward channel on the module to control.
|
|
uint32_t m_reverseChannel; ///< The reverse channel on the module to control.
|
|
uint8_t m_forwardMask; ///< The mask for the forward channel.
|
|
uint8_t m_reverseMask; ///< The mask for the reverse channel.
|
|
|
|
ITable *m_table;
|
|
};
|