#include <Compressor.h>

Inheritance diagram for Compressor:

Public Member Functions
	Compressor (uint8_t pcmID=GetDefaultSolenoidModule())
	Constructor. More...

void	Start ()
	Starts closed-loop control. More...

void	Stop ()
	Stops closed-loop control. More...

bool	Enabled () const
	Check if compressor output is active. More...

bool	GetPressureSwitchValue () const
	Check if the pressure switch is triggered. More...

float	GetCompressorCurrent () const
	Query how much current the compressor is drawing. More...

void	SetClosedLoopControl (bool on)
	Enables or disables automatically turning the compressor on when the pressure is low. More...

bool	GetClosedLoopControl () const
	Returns true if the compressor will automatically turn on when the pressure is low. More...

bool	GetCompressorCurrentTooHighFault () const
	Query if the compressor output has been disabled due to high current draw. More...

bool	GetCompressorCurrentTooHighStickyFault () const
	Query if the compressor output has been disabled due to high current draw (sticky). More...

bool	GetCompressorShortedStickyFault () const
	Query if the compressor output has been disabled due to a short circuit (sticky). More...

bool	GetCompressorShortedFault () const
	Query if the compressor output has been disabled due to a short circuit. More...

bool	GetCompressorNotConnectedStickyFault () const
	Query if the compressor output does not appear to be wired (sticky). More...

bool	GetCompressorNotConnectedFault () const
	Query if the compressor output does not appear to be wired. More...

void	ClearAllPCMStickyFaults ()
	Clear ALL sticky faults inside PCM that Compressor is wired to. More...

void	UpdateTable () override
	Update the table for this sendable object with the latest values.

void	StartLiveWindowMode () override
	Start having this sendable object automatically respond to value changes reflect the value on the table.

void	StopLiveWindowMode () override
	Stop having this sendable object automatically respond to value changes.

std::string	GetSmartDashboardType () const override

void	InitTable (std::shared_ptr< ITable > subTable) override
	Initializes a table for this sendable object. More...

std::shared_ptr< ITable >	GetTable () const override

void	ValueChanged (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, bool isNew) override
	Called when a key-value pair is changed in a ITable. More...

Public Member Functions inherited from SensorBase
	SensorBase ()
	Creates an instance of the sensor base and gets an FPGA handle.

	SensorBase (const SensorBase &)=delete

SensorBase &	operator= (const SensorBase &)=delete

Public Member Functions inherited from ErrorBase
	ErrorBase (const ErrorBase &)=delete

ErrorBase &	operator= (const ErrorBase &)=delete

virtual Error &	GetError ()
	Retrieve the current error. More...

virtual const Error &	GetError () const

virtual void	SetErrnoError (llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...

virtual void	SetImaqError (int success, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...

virtual void	SetError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	SetWPIError (llvm::StringRef errorMessage, Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...

virtual void	CloneError (const ErrorBase &rhs) const

virtual void	ClearError () const
	Clear the current error information associated with this sensor.

virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Public Member Functions inherited from ITableListener
virtual void	ValueChangedEx (ITable *source, llvm::StringRef key, std::shared_ptr< nt::Value > value, unsigned int flags)
	Extended version of ValueChanged. More...

Protected Attributes
void *	m_pcm_pointer

Protected Attributes inherited from ErrorBase
Error	m_error

Additional Inherited Members
Static Public Member Functions inherited from SensorBase
static void	DeleteSingletons ()
	Delete all the singleton classes on the list. More...

static uint32_t	GetDefaultSolenoidModule ()

static bool	CheckSolenoidModule (uint8_t moduleNumber)
	Check that the solenoid module number is valid. More...

static bool	CheckDigitalChannel (uint32_t channel)
	Check that the digital channel number is valid. More...

static bool	CheckRelayChannel (uint32_t channel)
	Check that the digital channel number is valid. More...

static bool	CheckPWMChannel (uint32_t channel)
	Check that the digital channel number is valid. More...

static bool	CheckAnalogInput (uint32_t channel)
	Check that the analog input number is value. More...

static bool	CheckAnalogOutput (uint32_t channel)
	Check that the analog output number is valid. More...

static bool	CheckSolenoidChannel (uint32_t channel)
	Verify that the solenoid channel number is within limits. More...

static bool	CheckPDPChannel (uint32_t channel)
	Verify that the power distribution channel number is within limits. More...

Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)

static void	SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, uint32_t lineNumber)

static Error &	GetGlobalError ()
	Retrieve the current global error.

Static Public Attributes inherited from SensorBase
static const uint32_t	kDigitalChannels = 26

static const uint32_t	kAnalogInputs = 8

static const uint32_t	kAnalogOutputs = 2

static const uint32_t	kSolenoidChannels = 8

static const uint32_t	kSolenoidModules = 2

static const uint32_t	kPwmChannels = 20

static const uint32_t	kRelayChannels = 8

static const uint32_t	kPDPChannels = 16

static const uint32_t	kChassisSlots = 8

Protected Member Functions inherited from SensorBase
void	AddToSingletonList ()
	Add sensor to the singleton list. More...

Static Protected Attributes inherited from SensorBase
static void *	m_digital_ports [kDigitalChannels]

static void *	m_relay_ports [kRelayChannels]

static void *	m_pwm_ports [kPwmChannels]

Static Protected Attributes inherited from ErrorBase
static priority_mutex	_globalErrorMutex

static Error	_globalError

Detailed Description

PCM compressor.

Constructor & Destructor Documentation

Compressor::Compressor ( uint8_t pcmID = GetDefaultSolenoidModule() )

explicit

Constructor.

Parameters

module The PCM ID to use (0-62)

Member Function Documentation

void Compressor::ClearAllPCMStickyFaults ( )

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.

bool Compressor::Enabled ( ) const

Check if compressor output is active.

Returns: true if the compressor is on

bool Compressor::GetClosedLoopControl ( ) const

Returns true if the compressor will automatically turn on when the pressure is low.

Returns: True if closed loop control of the compressor is enabled. False if disabled.

float Compressor::GetCompressorCurrent ( ) const

Query how much current the compressor is drawing.

Returns: The current through the compressor, in amps

bool Compressor::GetCompressorCurrentTooHighFault ( ) const

Query if the compressor output has been disabled due to high current draw.

Returns: true if PCM is in fault state : Compressor Drive is disabled due to compressor current being too high.

bool Compressor::GetCompressorCurrentTooHighStickyFault ( ) const

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.

Returns: true if PCM sticky fault is set : Compressor Drive is disabled due to compressor current being too high.

bool Compressor::GetCompressorNotConnectedFault ( ) const

Query if the compressor output does not appear to be wired.

Returns: true if PCM is in fault state : Compressor does not appear to be wired, i.e. compressor is not drawing enough current.

bool Compressor::GetCompressorNotConnectedStickyFault ( ) const

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.

Returns: true if PCM sticky fault is set : Compressor does not appear to be wired, i.e. compressor is not drawing enough current.

bool Compressor::GetCompressorShortedFault ( ) const

Query if the compressor output has been disabled due to a short circuit.

Returns: true if PCM is in fault state : Compressor output appears to be shorted.

bool Compressor::GetCompressorShortedStickyFault ( ) const

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.

Returns: true if PCM sticky fault is set : Compressor output appears to be shorted.

bool Compressor::GetPressureSwitchValue ( ) const

Check if the pressure switch is triggered.

Returns: true if pressure is low

std::string Compressor::GetSmartDashboardType ( ) const

overridevirtual

Returns: the string representation of the named data type that will be used by the smart dashboard for this sendable

Implements Sendable.

std::shared_ptr< ITable > Compressor::GetTable ( ) const

overridevirtual

Returns: the table that is currently associated with the sendable

Implements Sendable.

void Compressor::InitTable ( std::shared_ptr< ITable > subtable )

overridevirtual

Initializes a table for this sendable object.

Parameters

subtable The table to put the values in.

Implements Sendable.

void Compressor::SetClosedLoopControl ( bool on )

Enables or disables automatically turning the compressor on when the pressure is low.

Parameters

on	Set to true to enable closed loop control of the compressor. False to disable.

void Compressor::Start ( )

Starts closed-loop control.

Note that closed loop control is enabled by default.

void Compressor::Stop ( )

Stops closed-loop control.

Note that closed loop control is enabled by default.

void Compressor::ValueChanged	(	ITable *	source,
		llvm::StringRef	key,
		std::shared_ptr< nt::Value >	value,
		bool	isNew
	)

overridevirtual

Called when a key-value pair is changed in a ITable.

Parameters

source	the table the key-value pair exists in
key	the key associated with the value that changed
value	the new value
isNew	true if the key did not previously exist in the table, otherwise it is false

Implements ITableListener.

The documentation for this class was generated from the following files:

Athena/include/Compressor.h
Athena/src/Compressor.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation