azaleasource/WPILibCProgramming/trunk/WPILib/Compressor.h

/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2008. All Rights Reserved.							  */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in $(WIND_BASE)/WPILib.  */
/*----------------------------------------------------------------------------*/

#ifndef COMPRESSOR_H_
#define COMPRESSOR_H_

#define COMPRESSOR_PRIORITY 90

#include "SensorBase.h"
#include "Relay.h"
#include "Task.h"
#include "LiveWindow/LiveWindowSendable.h"

class DigitalInput;

/**
 * Compressor object.
 * The Compressor object is designed to handle the operation of the compressor, pressure sensor and
 * relay for a FIRST robot pneumatics system. The Compressor object starts a task which runs in the
 * backround and periodically polls the pressure sensor and operates the relay that controls the
 * compressor.
 */ 
class Compressor: public SensorBase, public LiveWindowSendable
{
public:
	Compressor(UINT32 pressureSwitchChannel, UINT32 compressorRelayChannel);
	Compressor(UINT8 pressureSwitchModuleNumber, UINT32 pressureSwitchChannel,
			UINT8 compresssorRelayModuleNumber, UINT32 compressorRelayChannel);
	~Compressor();

	void Start();
	void Stop();
	bool Enabled();
	UINT32 GetPressureSwitchValue();
	void SetRelayValue(Relay::Value relayValue);
	
	void UpdateTable();
	void StartLiveWindowMode();
	void StopLiveWindowMode();
	std::string GetSmartDashboardType();
	void InitTable(ITable *subTable);
	ITable * GetTable();

private:
	void InitCompressor(UINT8 pressureSwitchModuleNumber, UINT32 pressureSwitchChannel,
				UINT8 compresssorRelayModuleNumber, UINT32 compressorRelayChannel);

	DigitalInput *m_pressureSwitch;
	Relay *m_relay;
	bool m_enabled;
	Task m_task;
	
	ITable *m_table;
};

#endif