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0cb288ffba
* Fixed cpplint.py [runtime/int] warnings * Fixed cpplint.py [readability/casting] warnings * Fixed cpplint.py [readability/namespace] warnings * Fixed cpplint.py [readability/braces] warnings * Fixed cpplint.py [whitespace/braces] warnings * Fixed cpplint.py [runtime/explicit] warnings * Fixed cpplint.py [runtime/printf] warnings * Fixed cpplint.py [readability/inheritance] warnings * Fixed cpplint.py [whitespace/tab] warnings * Fixed cpplint.py [build/storage_class] warnings * Fixed cpplint.py [readability/multiline_comment] warnings * Fixed cpplint.py [whitespace/semicolon] warnings * Fixed cpplint.py [readability/check] warnings * Fixed cpplint.py [runtime/arrays] warnings * Ran format.py
122 lines
3.6 KiB
C++
122 lines
3.6 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 "DoubleSolenoid.h"
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#include <string.h>
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#include "LiveWindow/LiveWindow.h"
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#include "WPIErrors.h"
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/**
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* Constructor.
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*
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* @param forwardChannel The forward channel on the module to control.
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* @param reverseChannel The reverse channel on the module to control.
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*/
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DoubleSolenoid::DoubleSolenoid(uint32_t forwardChannel, uint32_t reverseChannel)
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: DoubleSolenoid(1, forwardChannel, reverseChannel) {}
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/**
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* Constructor.
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*
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* @param moduleNumber The solenoid module (1 or 2).
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* @param forwardChannel The forward channel on the module to control.
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* @param reverseChannel The reverse channel on the module to control.
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*/
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DoubleSolenoid::DoubleSolenoid(uint8_t moduleNumber, uint32_t forwardChannel,
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uint32_t reverseChannel) {
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m_reversed = false;
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if (reverseChannel < forwardChannel) { // Swap ports to get the right address
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int channel = reverseChannel;
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reverseChannel = forwardChannel;
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forwardChannel = channel;
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m_reversed = true;
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}
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std::stringstream ss;
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ss << "pneumatic/" << moduleNumber << "/" << forwardChannel << "/"
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<< moduleNumber << "/" << reverseChannel;
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m_impl = new SimContinuousOutput(ss.str());
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LiveWindow::GetInstance()->AddActuator("DoubleSolenoid", moduleNumber,
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forwardChannel, this);
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}
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DoubleSolenoid::~DoubleSolenoid() {
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if (m_table != nullptr) m_table->RemoveTableListener(this);
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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 Move the solenoid to forward, reverse, or don't move it.
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*/
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void DoubleSolenoid::Set(Value value) {
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m_value = value;
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switch (value) {
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case kOff:
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m_impl->Set(0);
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break;
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case kForward:
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m_impl->Set(m_reversed ? -1 : 1);
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break;
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case kReverse:
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m_impl->Set(m_reversed ? 1 : -1);
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break;
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}
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}
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/**
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* Read the current value of the solenoid.
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*
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* @return The current value of the solenoid.
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*/
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DoubleSolenoid::Value DoubleSolenoid::Get() const { return m_value; }
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void DoubleSolenoid::ValueChanged(ITable* source, llvm::StringRef key,
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std::shared_ptr<nt::Value> value,
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bool isNew) {
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if (!value->IsString()) return;
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Value lvalue = kOff;
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if (value->GetString() == "Forward")
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lvalue = kForward;
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else if (value->GetString() == "Reverse")
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lvalue = kReverse;
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Set(lvalue);
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}
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void DoubleSolenoid::UpdateTable() {
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if (m_table != nullptr) {
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m_table->PutString(
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"Value", (Get() == kForward ? "Forward"
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: (Get() == kReverse ? "Reverse" : "Off")));
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}
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}
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void DoubleSolenoid::StartLiveWindowMode() {
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Set(kOff);
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if (m_table != nullptr) {
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m_table->AddTableListener("Value", this, true);
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}
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}
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void DoubleSolenoid::StopLiveWindowMode() {
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Set(kOff);
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if (m_table != nullptr) {
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m_table->RemoveTableListener(this);
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}
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}
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std::string DoubleSolenoid::GetSmartDashboardType() const {
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return "Double Solenoid";
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}
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void DoubleSolenoid::InitTable(std::shared_ptr<ITable> subTable) {
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m_table = subTable;
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UpdateTable();
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}
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std::shared_ptr<ITable> DoubleSolenoid::GetTable() const { return m_table; }
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