WPILibC++
unspecified
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Class for operating a compressor connected to a PCM (Pneumatic Control Module). More...
#include <Compressor.h>
Public Member Functions | |
Compressor (int pcmID=GetDefaultSolenoidModule()) | |
Constructor. More... | |
virtual | ~Compressor () |
Destructor. | |
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... | |
double | 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< nt::NetworkTable > subTable) override |
Initializes a table for this sendable object. More... | |
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SensorBase (const SensorBase &)=delete | |
SensorBase & | operator= (const SensorBase &)=delete |
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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, int 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, int 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, int lineNumber) const |
Set the current error information associated with this sensor. More... | |
virtual void | SetErrorRange (Error::Code code, int32_t minRange, int32_t maxRange, int32_t requestedValue, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int 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, int 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... | |
Protected Attributes | |
HAL_CompressorHandle | m_compressorHandle |
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Error | m_error |
Additional Inherited Members | |
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static int | GetDefaultSolenoidModule () |
static bool | CheckSolenoidModule (int moduleNumber) |
Check that the solenoid module number is valid. More... | |
static bool | CheckDigitalChannel (int channel) |
Check that the digital channel number is valid. More... | |
static bool | CheckRelayChannel (int channel) |
Check that the relay channel number is valid. More... | |
static bool | CheckPWMChannel (int channel) |
Check that the digital channel number is valid. More... | |
static bool | CheckAnalogInputChannel (int channel) |
Check that the analog input number is value. More... | |
static bool | CheckAnalogOutputChannel (int channel) |
Check that the analog output number is valid. More... | |
static bool | CheckSolenoidChannel (int channel) |
Verify that the solenoid channel number is within limits. More... | |
static bool | CheckPDPChannel (int channel) |
Verify that the power distribution channel number is within limits. More... | |
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static void | SetGlobalError (Error::Code code, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) |
static void | SetGlobalWPIError (llvm::StringRef errorMessage, llvm::StringRef contextMessage, llvm::StringRef filename, llvm::StringRef function, int lineNumber) |
static Error & | GetGlobalError () |
Retrieve the current global error. | |
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static const int | kDigitalChannels = HAL_GetNumDigitalChannels() |
static const int | kAnalogInputs = HAL_GetNumAnalogInputs() |
static const int | kAnalogOutputs |
static const int | kSolenoidChannels = HAL_GetNumSolenoidChannels() |
static const int | kSolenoidModules = HAL_GetNumPCMModules() |
static const int | kPwmChannels = HAL_GetNumPWMChannels() |
static const int | kRelayChannels = HAL_GetNumRelayHeaders() |
static const int | kPDPChannels = HAL_GetNumPDPChannels() |
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static std::mutex | _globalErrorMutex |
static Error | _globalError |
Class for operating a compressor connected to a PCM (Pneumatic Control Module).
The PCM will automatically run in closed loop mode by default whenever a Solenoid object is created. For most cases, a Compressor object does not need to be instantiated or used in a robot program. This class is only required in cases where the robot program needs a more detailed status of the compressor or to enable/disable closed loop control.
Note: you cannot operate the compressor directly from this class as doing so would circumvent the safety provided by using the pressure switch and closed loop control. You can only turn off closed loop control, thereby stopping the compressor from operating.
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explicit |
Constructor.
module | The PCM ID to use (0-62) |
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.
bool Compressor::GetClosedLoopControl | ( | ) | const |
Returns true if the compressor will automatically turn on when the pressure is low.
double Compressor::GetCompressorCurrent | ( | ) | const |
Query how much current the compressor is drawing.
bool Compressor::GetCompressorCurrentTooHighFault | ( | ) | const |
Query if the compressor output has been disabled due to high current draw.
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.
bool Compressor::GetCompressorNotConnectedFault | ( | ) | const |
Query if the compressor output does not appear to be wired.
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.
bool Compressor::GetCompressorShortedFault | ( | ) | const |
Query if the compressor output has been disabled due to a short circuit.
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.
bool Compressor::GetPressureSwitchValue | ( | ) | const |
Check if the pressure switch is triggered.
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overridevirtual |
Implements frc::Sendable.
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overridevirtual |
Initializes a table for this sendable object.
subtable | The table to put the values in. |
Implements frc::Sendable.
void Compressor::SetClosedLoopControl | ( | bool | on | ) |
Enables or disables automatically turning the compressor on when the pressure is low.
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.