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https://github.com/wpilibsuite/allwpilib
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69 lines
2.3 KiB
C++
69 lines
2.3 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) 2014-2018 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 <HAL/Types.h>
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#include "ErrorBase.h"
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#include "SensorUtil.h"
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#include "SmartDashboard/SendableBase.h"
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namespace frc {
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/**
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* Class for operating a compressor connected to a %PCM (Pneumatic Control
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* Module).
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*
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* The PCM will automatically run in closed loop mode by default whenever a
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* Solenoid object is created. For most cases, a Compressor object does not need
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* to be instantiated or used in a robot program. This class is only required in
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* cases where the robot program needs a more detailed status of the compressor
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* or to enable/disable closed loop control.
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*
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* Note: you cannot operate the compressor directly from this class as doing so
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* would circumvent the safety provided by using the pressure switch and closed
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* loop control. You can only turn off closed loop control, thereby stopping
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* the compressor from operating.
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*/
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class Compressor : public ErrorBase, public SendableBase {
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public:
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// Default PCM ID is 0
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explicit Compressor(int pcmID = SensorUtil::GetDefaultSolenoidModule());
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~Compressor() override = default;
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void Start();
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void Stop();
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bool Enabled() const;
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bool GetPressureSwitchValue() const;
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double GetCompressorCurrent() const;
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void SetClosedLoopControl(bool on);
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bool GetClosedLoopControl() const;
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bool GetCompressorCurrentTooHighFault() const;
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bool GetCompressorCurrentTooHighStickyFault() const;
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bool GetCompressorShortedStickyFault() const;
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bool GetCompressorShortedFault() const;
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bool GetCompressorNotConnectedStickyFault() const;
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bool GetCompressorNotConnectedFault() const;
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void ClearAllPCMStickyFaults();
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void InitSendable(SendableBuilder& builder) override;
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protected:
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HAL_CompressorHandle m_compressorHandle;
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private:
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void SetCompressor(bool on);
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int m_module;
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};
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} // namespace frc
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