mirror of
https://github.com/wpilibsuite/allwpilib
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116 lines
3.3 KiB
C++
116 lines
3.3 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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#include "SensorUtil.h"
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#include <HAL/AnalogInput.h>
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#include <HAL/AnalogOutput.h>
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#include <HAL/DIO.h>
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#include <HAL/HAL.h>
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#include <HAL/PDP.h>
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#include <HAL/PWM.h>
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#include <HAL/Ports.h>
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#include <HAL/Relay.h>
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#include <HAL/Solenoid.h>
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using namespace frc;
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const int SensorUtil::kDigitalChannels = HAL_GetNumDigitalChannels();
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const int SensorUtil::kAnalogInputs = HAL_GetNumAnalogInputs();
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const int SensorUtil::kSolenoidChannels = HAL_GetNumSolenoidChannels();
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const int SensorUtil::kSolenoidModules = HAL_GetNumPCMModules();
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const int SensorUtil::kPwmChannels = HAL_GetNumPWMChannels();
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const int SensorUtil::kRelayChannels = HAL_GetNumRelayHeaders();
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const int SensorUtil::kPDPChannels = HAL_GetNumPDPChannels();
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/**
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* Check that the solenoid module number is valid.
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*
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* @return Solenoid module is valid and present
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*/
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bool SensorUtil::CheckSolenoidModule(int moduleNumber) {
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return HAL_CheckSolenoidModule(moduleNumber);
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}
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/**
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* Check that the digital channel number is valid.
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*
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* Verify that the channel number is one of the legal channel numbers. Channel
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* numbers are 1-based.
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*
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* @return Digital channel is valid
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*/
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bool SensorUtil::CheckDigitalChannel(int channel) {
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return HAL_CheckDIOChannel(channel);
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}
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/**
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* Check that the relay channel number is valid.
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*
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* Verify that the channel number is one of the legal channel numbers. Channel
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* numbers are 0-based.
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*
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* @return Relay channel is valid
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*/
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bool SensorUtil::CheckRelayChannel(int channel) {
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return HAL_CheckRelayChannel(channel);
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}
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/**
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* Check that the digital channel number is valid.
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*
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* Verify that the channel number is one of the legal channel numbers. Channel
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* numbers are 1-based.
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*
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* @return PWM channel is valid
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*/
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bool SensorUtil::CheckPWMChannel(int channel) {
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return HAL_CheckPWMChannel(channel);
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}
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/**
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* Check that the analog input number is value.
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*
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* Verify that the analog input number is one of the legal channel numbers.
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* Channel numbers are 0-based.
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*
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* @return Analog channel is valid
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*/
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bool SensorUtil::CheckAnalogInputChannel(int channel) {
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return HAL_CheckAnalogInputChannel(channel);
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}
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/**
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* Check that the analog output number is valid.
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*
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* Verify that the analog output number is one of the legal channel numbers.
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* Channel numbers are 0-based.
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*
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* @return Analog channel is valid
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*/
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bool SensorUtil::CheckAnalogOutputChannel(int channel) {
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return HAL_CheckAnalogOutputChannel(channel);
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}
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/**
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* Verify that the solenoid channel number is within limits.
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*
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* @return Solenoid channel is valid
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*/
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bool SensorUtil::CheckSolenoidChannel(int channel) {
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return HAL_CheckSolenoidChannel(channel);
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}
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/**
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* Verify that the power distribution channel number is within limits.
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*
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* @return PDP channel is valid
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*/
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bool SensorUtil::CheckPDPChannel(int channel) {
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return HAL_CheckPDPModule(channel);
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}
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