| Austin Schuh | 812d0d1 | 2021-11-04 20:16:48 -0700 | [diff] [blame^] | 1 | // Copyright (c) FIRST and other WPILib contributors. |
| 2 | // Open Source Software; you can modify and/or share it under the terms of |
| 3 | // the WPILib BSD license file in the root directory of this project. |
| 4 | |
| 5 | #include "frc/PneumaticsBase.h" |
| 6 | |
| 7 | #include "frc/Errors.h" |
| 8 | #include "frc/PneumaticHub.h" |
| 9 | #include "frc/PneumaticsControlModule.h" |
| 10 | #include "frc/SensorUtil.h" |
| 11 | |
| 12 | using namespace frc; |
| 13 | |
| 14 | std::shared_ptr<PneumaticsBase> PneumaticsBase::GetForType( |
| 15 | int module, PneumaticsModuleType moduleType) { |
| 16 | if (moduleType == PneumaticsModuleType::CTREPCM) { |
| 17 | return PneumaticsControlModule::GetForModule(module); |
| 18 | } else if (moduleType == PneumaticsModuleType::REVPH) { |
| 19 | return PneumaticHub::GetForModule(module); |
| 20 | } |
| 21 | throw FRC_MakeError(err::InvalidParameter, "{}", moduleType); |
| 22 | } |
| 23 | |
| 24 | int PneumaticsBase::GetDefaultForType(PneumaticsModuleType moduleType) { |
| 25 | if (moduleType == PneumaticsModuleType::CTREPCM) { |
| 26 | return SensorUtil::GetDefaultCTREPCMModule(); |
| 27 | } else if (moduleType == PneumaticsModuleType::REVPH) { |
| 28 | return SensorUtil::GetDefaultREVPHModule(); |
| 29 | } |
| 30 | throw FRC_MakeError(err::InvalidParameter, "{}", moduleType); |
| 31 | } |