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https://github.com/wpilibsuite/allwpilib
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f89c5e150f
Also make sure table listeners stop listening in their destructors. This might be better handled by moving the table itself into ITableListener and providing cleanup functionality there. A submodule is used to pull in ntcore. Change-Id: I3031c1a768595cf0f8754c47e15cd423e2dbcce5
66 lines
1.9 KiB
C++
66 lines
1.9 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2014. 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 $(WIND_BASE)/WPILib. */
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/*----------------------------------------------------------------------------*/
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#ifndef Compressor_H_
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#define Compressor_H_
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#include "HAL/HAL.hpp"
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#include "SensorBase.h"
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#include "tables/ITableListener.h"
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#include "LiveWindow/LiveWindowSendable.h"
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#include <memory>
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/**
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* PCM compressor
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*/
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class Compressor : public SensorBase,
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public LiveWindowSendable,
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public ITableListener {
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public:
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// Default PCM ID is 0
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explicit Compressor(uint8_t pcmID = GetDefaultSolenoidModule());
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virtual ~Compressor() = 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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float 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 UpdateTable() override;
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void StartLiveWindowMode() override;
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void StopLiveWindowMode() override;
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std::string GetSmartDashboardType() const override;
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void InitTable(std::shared_ptr<ITable> subTable) override;
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std::shared_ptr<ITable> GetTable() const override;
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew) override;
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protected:
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void *m_pcm_pointer;
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private:
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void SetCompressor(bool on);
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std::shared_ptr<ITable> m_table = nullptr;
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};
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#endif /* Compressor_H_ */
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