| Brian Silverman | f7f267a | 2017-02-04 16:16:08 -0800 | [diff] [blame^] | 1 | /*----------------------------------------------------------------------------*/ |
| 2 | /* Copyright (c) FIRST 2014-2017. All Rights Reserved. */ |
| 3 | /* Open Source Software - may be modified and shared by FRC teams. The code */ |
| 4 | /* must be accompanied by the FIRST BSD license file in the root directory of */ |
| 5 | /* the project. */ |
| 6 | /*----------------------------------------------------------------------------*/ |
| 7 | |
| 8 | #pragma once |
| 9 | |
| 10 | #include <memory> |
| 11 | #include <string> |
| 12 | |
| 13 | #include "HAL/Types.h" |
| 14 | #include "LiveWindow/LiveWindowSendable.h" |
| 15 | #include "SensorBase.h" |
| 16 | #include "tables/ITableListener.h" |
| 17 | |
| 18 | namespace frc { |
| 19 | |
| 20 | /** |
| 21 | * PCM compressor |
| 22 | */ |
| 23 | class Compressor : public SensorBase, |
| 24 | public LiveWindowSendable, |
| 25 | public ITableListener { |
| 26 | public: |
| 27 | // Default PCM ID is 0 |
| 28 | explicit Compressor(int pcmID = GetDefaultSolenoidModule()); |
| 29 | virtual ~Compressor() = default; |
| 30 | |
| 31 | void Start(); |
| 32 | void Stop(); |
| 33 | bool Enabled() const; |
| 34 | |
| 35 | bool GetPressureSwitchValue() const; |
| 36 | |
| 37 | double GetCompressorCurrent() const; |
| 38 | |
| 39 | void SetClosedLoopControl(bool on); |
| 40 | bool GetClosedLoopControl() const; |
| 41 | |
| 42 | bool GetCompressorCurrentTooHighFault() const; |
| 43 | bool GetCompressorCurrentTooHighStickyFault() const; |
| 44 | bool GetCompressorShortedStickyFault() const; |
| 45 | bool GetCompressorShortedFault() const; |
| 46 | bool GetCompressorNotConnectedStickyFault() const; |
| 47 | bool GetCompressorNotConnectedFault() const; |
| 48 | void ClearAllPCMStickyFaults(); |
| 49 | |
| 50 | void UpdateTable() override; |
| 51 | void StartLiveWindowMode() override; |
| 52 | void StopLiveWindowMode() override; |
| 53 | std::string GetSmartDashboardType() const override; |
| 54 | void InitTable(std::shared_ptr<ITable> subTable) override; |
| 55 | std::shared_ptr<ITable> GetTable() const override; |
| 56 | void ValueChanged(ITable* source, llvm::StringRef key, |
| 57 | std::shared_ptr<nt::Value> value, bool isNew) override; |
| 58 | |
| 59 | protected: |
| 60 | HAL_CompressorHandle m_compressorHandle; |
| 61 | |
| 62 | private: |
| 63 | void SetCompressor(bool on); |
| 64 | int m_module; |
| 65 | |
| 66 | std::shared_ptr<ITable> m_table; |
| 67 | }; |
| 68 | |
| 69 | } // namespace frc |