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https://github.com/wpilibsuite/allwpilib
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3cd1253977
Years update, references to WIND_BASE were removed, and WPILib license was moved to the root directory of the project. If there was already a comment block, a year range through 2016 was created using the first year in the comment. If there was no comment block, a block with just the year 2016 was added. Comments were not added to files from external sources (NI, CTRE). Change-Id: Iff4f098ab908b90b8d929902dea903de2f596acc
106 lines
3.5 KiB
C++
106 lines
3.5 KiB
C++
/*----------------------------------------------------------------------------*/
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/* Copyright (c) FIRST 2008-2016. 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 "SolenoidBase.h"
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void* SolenoidBase::m_ports[m_maxModules][m_maxPorts];
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std::unique_ptr<Resource> SolenoidBase::m_allocated;
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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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SolenoidBase::SolenoidBase(uint8_t moduleNumber)
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: m_moduleNumber(moduleNumber) {
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for (uint32_t i = 0; i < kSolenoidChannels; i++) {
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void* port = getPortWithModule(moduleNumber, i);
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int32_t status = 0;
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SolenoidBase::m_ports[moduleNumber][i] =
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initializeSolenoidPort(port, &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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freePort(port);
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}
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}
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/**
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* Set the value of a solenoid.
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*
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* @param value The value you want to set on the module.
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* @param mask The channels you want to be affected.
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*/
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void SolenoidBase::Set(uint8_t value, uint8_t mask, int module) {
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int32_t status = 0;
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for (int i = 0; i < m_maxPorts; i++) {
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uint8_t local_mask = 1 << i;
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if (mask & local_mask)
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setSolenoid(m_ports[module][i], value & local_mask, &status);
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}
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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}
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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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uint8_t SolenoidBase::GetAll(int module) const {
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uint8_t value = 0;
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int32_t status = 0;
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value = getAllSolenoids(m_ports[module][0], &status);
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wpi_setErrorWithContext(status, getHALErrorMessage(status));
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return value;
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}
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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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uint8_t SolenoidBase::GetPCMSolenoidBlackList(int module) const {
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int32_t status = 0;
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return getPCMSolenoidBlackList(m_ports[module][0], &status);
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}
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/**
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* @return true if PCM sticky fault is set : The common
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* highside solenoid voltage rail is too low,
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* most likely a solenoid channel is shorted.
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*/
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bool SolenoidBase::GetPCMSolenoidVoltageStickyFault(int module) const {
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int32_t status = 0;
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return getPCMSolenoidVoltageStickyFault(m_ports[module][0], &status);
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}
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/**
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* @return true if PCM is in fault state : The common
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* highside solenoid voltage rail is too low,
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* most likely a solenoid channel is shorted.
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*/
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bool SolenoidBase::GetPCMSolenoidVoltageFault(int module) const {
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int32_t status = 0;
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return getPCMSolenoidVoltageFault(m_ports[module][0], &status);
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}
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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
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* maybe momentarily disable while flags are being cleared. Care
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* should be
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* taken to not call this too frequently, otherwise normal
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* 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 SolenoidBase::ClearAllPCMStickyFaults(int module) {
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int32_t status = 0;
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return clearAllPCMStickyFaults_sol(m_ports[module][0], &status);
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}
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