mirror of
https://github.com/wpilibsuite/allwpilib
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d82635bbe1
Subsections are alphabetized according to lexographic ordering. Also, HAL includes were moved from headers to source files where possible. This change may cause user code which uses HAL functionality and does not include the relevant HAL header (since it may have been provided by another WPILib header) to fail to compile.
55 lines
2.1 KiB
C++
55 lines
2.1 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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#pragma once
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#include <memory>
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#include "LiveWindow/LiveWindowSendable.h"
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#include "SolenoidBase.h"
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#include "tables/ITableListener.h"
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/**
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* DoubleSolenoid class for running 2 channels of high voltage Digital Output
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* (PCM).
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*
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* The DoubleSolenoid class is typically used for pneumatics solenoids that
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* have two positions controlled by two separate channels.
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*/
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class DoubleSolenoid : public SolenoidBase,
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public LiveWindowSendable,
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public ITableListener {
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public:
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enum Value { kOff, kForward, kReverse };
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explicit DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel);
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DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel,
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uint32_t reverseChannel);
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virtual ~DoubleSolenoid();
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virtual void Set(Value value);
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virtual Value Get() const;
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bool IsFwdSolenoidBlackListed() const;
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bool IsRevSolenoidBlackListed() const;
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void ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value, bool isNew);
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void UpdateTable();
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void StartLiveWindowMode();
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void StopLiveWindowMode();
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std::string GetSmartDashboardType() const;
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void InitTable(std::shared_ptr<ITable> subTable);
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std::shared_ptr<ITable> GetTable() const;
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private:
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uint32_t m_forwardChannel; ///< The forward channel on the module to control.
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uint32_t m_reverseChannel; ///< The reverse channel on the module to control.
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uint8_t m_forwardMask; ///< The mask for the forward channel.
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uint8_t m_reverseMask; ///< The mask for the reverse channel.
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std::shared_ptr<ITable> m_table;
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};
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