Squashed 'third_party/allwpilib_2016/' content from commit 7f61816
Change-Id: If9d9245880859cdf580f5d7f77045135d0521ce7
git-subtree-dir: third_party/allwpilib_2016
git-subtree-split: 7f618166ed253a24629934fcf89c3decb0528a3b
diff --git a/wpilibc/Athena/src/Compressor.cpp b/wpilibc/Athena/src/Compressor.cpp
new file mode 100644
index 0000000..9ab89e0
--- /dev/null
+++ b/wpilibc/Athena/src/Compressor.cpp
@@ -0,0 +1,277 @@
+/*
+ * Compressor.cpp
+ */
+
+#include "Compressor.h"
+#include "WPIErrors.h"
+
+/**
+ * Constructor
+ *
+ * @param module The PCM ID to use (0-62)
+ */
+Compressor::Compressor(uint8_t pcmID) {
+ m_pcm_pointer = initializeCompressor(pcmID);
+ SetClosedLoopControl(true);
+}
+
+/**
+ * Starts closed-loop control. Note that closed loop control is enabled by
+ * default.
+ */
+void Compressor::Start() { SetClosedLoopControl(true); }
+
+/**
+ * Stops closed-loop control. Note that closed loop control is enabled by
+ * default.
+ */
+void Compressor::Stop() { SetClosedLoopControl(false); }
+
+/**
+ * Check if compressor output is active
+ * @return true if the compressor is on
+ */
+bool Compressor::Enabled() const {
+ int32_t status = 0;
+ bool value;
+
+ value = getCompressor(m_pcm_pointer, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Check if the pressure switch is triggered
+ * @return true if pressure is low
+ */
+bool Compressor::GetPressureSwitchValue() const {
+ int32_t status = 0;
+ bool value;
+
+ value = getPressureSwitch(m_pcm_pointer, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Query how much current the compressor is drawing
+ * @return The current through the compressor, in amps
+ */
+float Compressor::GetCompressorCurrent() const {
+ int32_t status = 0;
+ float value;
+
+ value = getCompressorCurrent(m_pcm_pointer, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Enables or disables automatically turning the compressor on when the
+ * pressure is low.
+ * @param on Set to true to enable closed loop control of the compressor. False
+ * to disable.
+ */
+void Compressor::SetClosedLoopControl(bool on) {
+ int32_t status = 0;
+
+ setClosedLoopControl(m_pcm_pointer, on, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+}
+
+/**
+ * Returns true if the compressor will automatically turn on when the
+ * pressure is low.
+ * @return True if closed loop control of the compressor is enabled. False if
+ * disabled.
+ */
+bool Compressor::GetClosedLoopControl() const {
+ int32_t status = 0;
+ bool value;
+
+ value = getClosedLoopControl(m_pcm_pointer, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+
+/**
+ * Query if the compressor output has been disabled due to high current draw.
+ * @return true if PCM is in fault state : Compressor Drive is
+ * disabled due to compressor current being too high.
+ */
+bool Compressor::GetCompressorCurrentTooHighFault() const {
+ int32_t status = 0;
+ bool value;
+
+ value = getCompressorCurrentTooHighFault(m_pcm_pointer, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+/**
+ * Query if the compressor output has been disabled due to high current draw
+ * (sticky).
+ * A sticky fault will not clear on device reboot, it must be cleared through
+ * code or the webdash.
+ * @return true if PCM sticky fault is set : Compressor Drive is
+ * disabled due to compressor current being too high.
+ */
+bool Compressor::GetCompressorCurrentTooHighStickyFault() const {
+ int32_t status = 0;
+ bool value;
+
+ value = getCompressorCurrentTooHighStickyFault(m_pcm_pointer, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+/**
+ * Query if the compressor output has been disabled due to a short circuit
+ * (sticky).
+ * A sticky fault will not clear on device reboot, it must be cleared through
+ * code or the webdash.
+ * @return true if PCM sticky fault is set : Compressor output
+ * appears to be shorted.
+ */
+bool Compressor::GetCompressorShortedStickyFault() const {
+ int32_t status = 0;
+ bool value;
+
+ value = getCompressorShortedStickyFault(m_pcm_pointer, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+/**
+ * Query if the compressor output has been disabled due to a short circuit.
+ * @return true if PCM is in fault state : Compressor output
+ * appears to be shorted.
+ */
+bool Compressor::GetCompressorShortedFault() const {
+ int32_t status = 0;
+ bool value;
+
+ value = getCompressorShortedFault(m_pcm_pointer, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+/**
+ * Query if the compressor output does not appear to be wired (sticky).
+ * A sticky fault will not clear on device reboot, it must be cleared through
+ * code or the webdash.
+ * @return true if PCM sticky fault is set : Compressor does not
+ * appear to be wired, i.e. compressor is
+ * not drawing enough current.
+ */
+bool Compressor::GetCompressorNotConnectedStickyFault() const {
+ int32_t status = 0;
+ bool value;
+
+ value = getCompressorNotConnectedStickyFault(m_pcm_pointer, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+/**
+ * Query if the compressor output does not appear to be wired.
+ * @return true if PCM is in fault state : Compressor does not
+ * appear to be wired, i.e. compressor is
+ * not drawing enough current.
+ */
+bool Compressor::GetCompressorNotConnectedFault() const {
+ int32_t status = 0;
+ bool value;
+
+ value = getCompressorNotConnectedFault(m_pcm_pointer, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+
+ return value;
+}
+/**
+ * Clear ALL sticky faults inside PCM that Compressor is wired to.
+ *
+ * If a sticky fault is set, then it will be persistently cleared. Compressor
+ * drive
+ * maybe momentarily disable while flags are being cleared. Care
+ * should be
+ * taken to not call this too frequently, otherwise normal
+ * compressor
+ * functionality may be prevented.
+ *
+ * If no sticky faults are set then this call will have no effect.
+ */
+void Compressor::ClearAllPCMStickyFaults() {
+ int32_t status = 0;
+
+ clearAllPCMStickyFaults(m_pcm_pointer, &status);
+
+ if (status) {
+ wpi_setWPIError(Timeout);
+ }
+}
+void Compressor::UpdateTable() {
+ if (m_table) {
+ m_table->PutBoolean("Enabled", Enabled());
+ m_table->PutBoolean("Pressure switch", GetPressureSwitchValue());
+ }
+}
+
+void Compressor::StartLiveWindowMode() {}
+
+void Compressor::StopLiveWindowMode() {}
+
+std::string Compressor::GetSmartDashboardType() const { return "Compressor"; }
+
+void Compressor::InitTable(std::shared_ptr<ITable> subTable) {
+ m_table = subTable;
+ UpdateTable();
+}
+
+std::shared_ptr<ITable> Compressor::GetTable() const { return m_table; }
+
+void Compressor::ValueChanged(ITable* source, llvm::StringRef key,
+ std::shared_ptr<nt::Value> value, bool isNew) {
+ if (!value->IsBoolean()) return;
+ if (value->GetBoolean())
+ Start();
+ else
+ Stop();
+}