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d89b7dd412
The old headers were moved into folders because doing so avoids polluting the system include directories. Folder names were also normalized to lowercase.
126 lines
4.1 KiB
C++
126 lines
4.1 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2008-2018 FIRST. All Rights Reserved. */
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/* Open Source Software - may be modified and shared by FRC teams. The code */
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/* must be accompanied by the FIRST BSD license file in the root directory of */
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/* the project. */
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/*----------------------------------------------------------------------------*/
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#pragma once
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#include "frc/ErrorBase.h"
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#include "frc/smartdashboard/SendableBase.h"
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namespace frc {
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/**
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* SolenoidBase class is the common base class for the Solenoid and
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* DoubleSolenoid classes.
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*/
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class SolenoidBase : public ErrorBase, public SendableBase {
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public:
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/**
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* Read all 8 solenoids as a single byte
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*
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* @param module the module to read from
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* @return The current value of all 8 solenoids on the module.
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*/
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static int GetAll(int module);
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/**
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* Read all 8 solenoids as a single byte
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*
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* @return The current value of all 8 solenoids on the module.
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*/
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int GetAll() const;
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/**
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* Reads complete solenoid blacklist for all 8 solenoids as a single byte.
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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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* @see ClearAllPCMStickyFaults()
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*
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* @param module the module to read from
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* @return The solenoid blacklist of all 8 solenoids on the module.
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*/
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static int GetPCMSolenoidBlackList(int module);
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/**
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* Reads complete solenoid blacklist for all 8 solenoids as a single byte.
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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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* @see ClearAllPCMStickyFaults()
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*
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* @return The solenoid blacklist of all 8 solenoids on the module.
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*/
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int GetPCMSolenoidBlackList() const;
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/**
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* @param module the module to read from
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* @return true if PCM sticky fault is set : The common highside solenoid
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* voltage rail is too low, most likely a solenoid channel is shorted.
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*/
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static bool GetPCMSolenoidVoltageStickyFault(int module);
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/**
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* @return true if PCM sticky fault is set : The common highside solenoid
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* voltage rail is too low, most likely a solenoid channel is shorted.
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*/
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bool GetPCMSolenoidVoltageStickyFault() const;
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/**
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* @param module the module to read from
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* @return true if PCM is in fault state : The common highside solenoid
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* voltage rail is too low, most likely a solenoid channel is shorted.
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*/
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static bool GetPCMSolenoidVoltageFault(int module);
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/**
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* @return true if PCM is in fault state : The common highside solenoid
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* voltage rail is too low, most likely a solenoid channel is shorted.
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*/
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bool GetPCMSolenoidVoltageFault() const;
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/**
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* Clear ALL sticky faults inside PCM that Compressor is wired to.
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*
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* If a sticky fault is set, then it will be persistently cleared. Compressor
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* drive maybe momentarily disable while flags are being cleared. Care should
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* be taken to not call this too frequently, otherwise normal compressor
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* functionality may be prevented.
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*
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* If no sticky faults are set then this call will have no effect.
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*
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* @param module the module to read from
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*/
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static void ClearAllPCMStickyFaults(int module);
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/**
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* Clear ALL sticky faults inside PCM that Compressor is wired to.
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*
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* If a sticky fault is set, then it will be persistently cleared. Compressor
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* drive maybe momentarily disable while flags are being cleared. Care should
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* be taken to not call this too frequently, otherwise normal compressor
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* functionality may be prevented.
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*
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* If no sticky faults are set then this call will have no effect.
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*/
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void ClearAllPCMStickyFaults();
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protected:
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/**
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* Constructor.
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*
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* @param moduleNumber The CAN PCM ID.
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*/
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explicit SolenoidBase(int pcmID);
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static constexpr int m_maxModules = 63;
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static constexpr int m_maxPorts = 8;
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int m_moduleNumber; // PCM module number
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};
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} // namespace frc
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